5 accepted papers
Reactive motion generation for dual-arm robotic systems is challenging due to their high degrees of freedom, nonlinear characteristics as well as the presence of multiple constraints, including kinematic limits, collision avoidance, dual-arm coordination, and other task-specific requirements. These
Online time-optimal trajectory planning exists in a wide range of applications such as computer numerical control (CNC) manufacturing, robotics and autonomous vehicles. Generally, the methods to generate such time-parameterized trajectory can be categorized as offline methods and online methods. Off
The task space contouring performance is significant for the machining accuracy of industrial robotic manipulators, but the contouring control of end-effector which is important in the industry has received scant attention. In this letter, a novel task space contouring error estimation and control s
Modular robots have the potential for an unmatched ability to perform versatile and robust locomotion. However, designing effective and adaptive locomotion controllers for modular robots is challenging, resulting in a number of model-based methods that typically require various forms of prior knowle
We consider a scenario where a robot is capable of autonomously opening previously unseen doors. Prior works either use model-based methods that rely strongly on accurate kinematic models, or learn a policy from scratch through trial-and-error, which cannot generalize to large variations in shape, a