相关论文: Instabilities of Robot Motion

In this paper, we address the problem of stable coordinated motion in multi-robot systems with limited fields of view (FOVs). These problems arise naturally for multi-robot systems that interact based on sensing, such as our case study of…

We study the path planning problem for continuum-arm robots, in which we are given a starting and an end point, and we need to compute a path for the tip of the continuum arm between the two points. We consider both cases where obstacles…

This paper presents a novel method to generate spatial constraints for motion planning in dynamic environments. Motion planning methods for autonomous driving and mobile robots typically need to rely on the spatial constraints imposed by a…

We study the geodesic complexity of the ordered and unordered configuration spaces of graphs in both the $\ell_1$ and $\ell_2$ metrics. We determine the geodesic complexity of the ordered two-point $\varepsilon$-configuration space of any…

Legged robot locomotion requires the planning of stable reference trajectories, especially while traversing uneven terrain. The proposed trajectory optimization framework is capable of generating dynamically stable base and footstep…

This work addresses the problem of vehicle path planning in the presence of obstacles and uncertainties, which is a fundamental problem in robotics. While many path planning algorithms have been proposed for decades, many of them have dealt…

The environments in which the collaboration of a robot would be the most helpful to a person are frequently uncontrolled and cluttered with many objects present. Legible robot arm motion is crucial in tasks like these in order to avoid…

We study the problem of motion-planning for free-flying multi-link robots and develop a sampling-based algorithm that is specifically tailored for the task. Our work is based on the simple observation that the set of configurations for…

This paper studies a class of multi-robot coordination problems where a team of robots aim to reach their goal regions with minimum time and avoid collisions with obstacles and other robots. A novel numerical algorithm is proposed to…

Trajectory Planning is a crucial word in Modern & Advanced Robotics. It's a way of generating a smooth and feasible path for the robot to follow over time. The process primarily takes several factors to generate the path, such as velocity,…

We generalize various notions of stability of invariant sets of dynamical systems to invariant measures, by defining a topology on the set of measures. The defined topology is similar, but not topologically equivalent to weak* topology, and…

The complex dynamics of agile robotic legged locomotion requires motion planning to intelligently adjust footstep locations. Often, bipedal footstep and motion planning use mathematically simple models such as the linear inverted pendulum,…

Bipedal humanoid robots must precisely coordinate balance, timing, and contact decisions when locomoting on constrained footholds such as stepping stones, beams, and planks -- even minor errors can lead to catastrophic failure. Classical…

Robotic manipulation in complex, constrained spaces is vital for widespread applications but challenging, particularly when navigating narrow passages with elongated objects. Existing planning methods often fail in these low-clearance…

Uneven terrain necessarily transforms periodic walking into a non-periodic motion. As such, traditional stability analysis tools no longer adequately capture the ability of a bipedal robot to locomote in the presence of such disturbances.…

Motion planning for robots of high degrees-of-freedom (DOFs) is an important problem in robotics with sampling-based methods in configuration space C as one popular solution. Recently, machine learning methods have been introduced into…

We establish a criterion for the existence of a topological horseshoe in a class of planar systems generated by periodic switching between two subsystems, each admitting a family of closed orbits, where the mechanism for chaos arises from…

In this paper, we deal with the problem of full-body path planning for walking robots. The state of walking robots is defined in multi-dimensional space. Path planning requires defining the path of the feet and the robot's body. Moreover,…

Persistent homology analysis provides means to capture the connectivity structure of data sets in various dimensions. On the mathematical level, by defining a metric between the objects that persistence attaches to data sets, we can…

We present a method for effectively planning the motion trajectory of robots in manufacturing tasks, the tool-paths of which are usually complex and have a large number of discrete-time constraints as waypoints. Kinematic redundancy also…