9 accepted papers
Determining a feasible path for nonholonomic mobile manipulators operating in congested environments is challenging. Sampling-based methods, especially bi-directional tree search-based approaches, are amongst the most promising candidates for quickly finding feasible paths. However, sampling uniform…
Multi-arm mobile manipulators can be represented as a combination of multiple robotic agents from the perspective of task-assignment and motion planning. Depending upon the task, agents might collaborate or work independently. Integrating motion planning with task-agent assignment is a computational…
High-performance composites are increasingly being used in the industry. Sheet layup is a process of manufacturing composite components using deformable sheets. We have developed a robotic cell to automate the layup process and overcome the limitations of the manual layup. Generating offline traject…
Extrusion-based additive manufacturing (AM), also known as fused deposition modeling (FDM) extrudes filaments through a heated nozzle and builds a part layer-by-layer. Using a smaller diameter nozzle can achieve better surface finish. However, there is a trade-off between surface finish and build ti…
We present a context-dependent bi-directional tree-search framework for point-to-point path planning for manipulators. Conceptually, our framework is composed of six modules: tree selection, focus selection, node selection, target selection, extend selection and connection type selection. Each modul…
We pose the problem of path-constrained trajectory generation for the synchronous motion of multi-robot systems as a non-linear optimization problem. Our method determines appropriate parametric representation for the configuration variables, generates an approximate solution as a starting point for…
Successfully completing a complex manufacturing task requires finding a feasible placement of the workpiece in the robot workspace. The workpiece placement should be such that the task surfaces on the workpiece are reachable by the robot, the robot can apply the required forces, and the end-effector…
In this letter, an approach is presented to estimate the stiffness characteristics of elastically deformable objects, while being processed in a robotic cleaning system. Building on our previous work [J. D. Langsfeld, A. M. Kabir, K. N. Kaipa, and S. K. Gupta, “Robotic bimanual cleaning of deformabl
Use of robots is rising in process applications where robots need to interact with parts using tools. Representative examples can be cleaning, polishing, grinding, etc. These tasks can be non-repetitive in nature and the physics-based models of the task performances are unknown for new materials and…