4 accepted papers
This paper proposes Constrained Sampling Cluster Model Predictive Path Integral (CSC-MPPI), a novel constrained formulation of MPPI designed to enhance trajectory optimization while enforcing strict constraints on system states and control inputs. Traditional MPPI, which relies on a probabilistic sa
Door traversal is an essential task for a mobile manipulator to achieve autonomous navigation in indoor environment. However, it remains challenging since it requires the coupled motion of the robot and door and is composed of several sub-problems such as approaching, opening, passing through, and c
Recently, the robotic assembly has been expanded into an unstructured environment. This environment includes uncertainties that may cause unexpected situations such as a failure of the assembly. Such problems can be prevented or monitored by a robust contact state (CS) estimation method. In that sen
Robots with high degrees of freedom (DoFs), such as humanoids and mobile manipulators, are expected to perform multiple tasks simultaneously. Hierarchical quadratic programming (HQP) can effectively compute a solution for strictly prioritized tasks. However, the continuity of the control input is no