6 accepted papers
This paper proposes an energy-efficient collision avoidance system for an autonomous mobile manipulator (AMM) in dynamic environments. The system enables safe obstacle avoidance and energy-efficient path generation. A B-Spline-based path optimization algorithm is developed, incorporating an energy c
Robotic autonomous grasp requires the system to perform multiple functions such as gripper and robot control, making it a task with hybrid output nature. Existing methods based on closed-loop deep reinforcement learning rely on external models for termination evaluation. To achieve more effective gr…
This letter presents a human-to-robot handover design for an Autonomous Mobile Robot (AMR). The developed control system enables the AMR to navigate to a specific person and grasp the object that the person wants to handover. This letter proposes a motion planning algorithm for grasping an unseen ob
This study proposes a path planning algorithm to generate a collision-free path that avoids static and dynamic obstacles in real time. An efficient path re-planning method is presented for obstacle avoidance for a cobot in an environment that is shared by humans and robot. Static and dynamic obstacl
This paper proposes a real-time obstacle avoidance control scheme for a 6-DOF manipulator with a tool in the end effector. The system consists of environment monitoring, robot-tool segmentation and collision-free motion planning of the manipulator. A Kinect V2 RGB-D camera is used to track obstacles…
This paper presents a real-time motion planning and control design of a robotic arm for human-robot collaborative safety. A novel collision-free motion planning method is proposed not only to keep robot body from colliding with objects but also preserve the execution of robot's original task under t…