7 accepted papers
This work presents a novel and efficient non-linear programming framework that tightly integrates hierarchical decision-making with inverse kinematic planning and control. Decision-making plays a central role in many aspects of robotics, from sparse inverse kinematic control with a minimal number of…
Symbolic task planning for robots is computationally challenging due to the combinatorial complexity of the possible action space. This fact is amplified if there are several sub-goals to be achieved due to the increased length of the action sequences. In this work, we propose a multi-goal symbolic…
In this paper, we study a navigation problem where a mobile robot needs to locate a mmWave wireless signal. Using the directionality properties of the signal, we propose an estimation and path planning algorithm that can efficiently navigate in cluttered indoor environments. We formulate Extended Ka…
Least-squares programming is a popular tool in robotics due to its simplicity and availability of open-source solvers. However, certain problems like sparse programming in the \ell_{0}\ell_{0}- or \ell_{0}-\mathbf{norm}\ell_{0}-\mathbf{norm} for time-optimal control are not equivalently solvable. In…
Real-world applications require light-weight, energy-efficient, fully autonomous robots. Yet, increasing autonomy is oftentimes synonymous with escalating computational requirements. It might thus be desirable to offload intensive computation—not only sensing and planning, but also low-level whole-b…
We propose a robust method to handle kinematic and algorithmic singularities of any kinematically redundant robot under task-space hierarchical control with ordered equalities and inequalities. Our main idea is to exploit a second order model of the nonlinear kinematic function, in the sense of the
We study the HRP-2Kai humanoid robot's ability to conduct the precise industrial task of fastening bolts in aircraft production. Our contribution stands mainly in high integration of different modules within the whole-body Quadratic Programing-based controller that has not been yet confronted to tas…