5 accepted papers
Navigating quadruped robots in unstructured 3D environments poses significant challenges, requiring goal-directed motion, effective exploration to escape from local minima, and posture adaptation to traverse narrow, height-constrained spaces. Conventional approaches employ a sequential mapping–plann
A quadruped robot faces balancing challenges on a six-degrees-of-freedom moving platform, like subways, buses, airplanes, and yachts, due to independent platform motions and resultant diverse inertia forces on the robot. To alleviate these challenges, we present the Learning-based Active Stabilizati…
Person following is an essential task for a robot to serve a person. In an indoor environment, however, the following task can be failed due to the occlusion of the target by structures, e.g., walls or pillars. To address this problem, we propose a method that helps the robot follow the target well…
A redundant manipulator has multiple inverse kinematics solutions per end-effector pose. Accordingly, there can be many trajectories for joints that follow a given end-effector path in the Cartesian space. In this paper, we present a trajectory optimization of a redundant manipulator (TORM) to synth…
As personal autonomous mobility is getting to be more widely adopted, it is more important to consider comfortability of stuffs and persons carried by such mobility. In this work, we define the comfort of a trajectory as forces, specifically, translational force, received to objects carried by a rob…