4 accepted papers
Robotic manipulation in dynamic environments often requires seamless transitions between different grasp types to maintain stability and efficiency. However, achieving smooth and adaptive grasp transitions remains a challenge, particularly when dealing with external forces and complex motion constra
This paper is about generating motion plans for high degree-of-freedom systems that account for both static and dynamic collisions along the entire body. A particular class of mathematical programs with complementarity constraints become useful in this regard. Optimization-based planners can tackle
The ability of a manipulator to compute a geometry-aware quality index for general tasks with different joint configurations is essential. Such workspace assessment is a well-known and studied field in existing robotics literature, often deployed through embodied structures such as voxelized maps. N
This paper investigates the problem of effective tool manipulation for motion planning in complex human-like scenarios. Vector-field-based real-time strategies, although widely used, usually do not account for unwieldy tools or incorporate systematic methods to handle these extra maneuvers needed. I…