6 accepted papers
Building large and stable structures from highly irregular stones is among the most challenging construction tasks with excavators. In this letter, we present a method for grasp planning and object manipulation that enables the world's first autonomous assembly of a large-scale stone wall with an un
We present a reformulation of a contact-implicit optimization (CIO) approach that computes optimal trajectories for rigid-body systems in contact-rich settings. A hard-contact model is assumed, and the unilateral constraints are imposed in the form of complementarity conditions. Newton's impact law…
High-precision trajectory tracking is fundamental in robotic manipulation. While industrial robots address this through stiffness and high-performance hardware, compliant and cost-effective robots require advanced control to achieve accurate position tracking. In this letter, we present a model-base
Predominately, robotic construction is applied as prefabrication in structured indoor environments with standard building materials. Our work, on the other hand, focuses on utilizing irregular materials found on-site, such as rubble and rocks, for autonomous construction. We present a pipeline that…
Flying and walking robots can use their complementary features in terms of viewpoint and payload capability to the best in a heterogeneous team. To this end, we present our online collaborative navigation framework for unknown and challenging terrain. The method leverages the flying robot's onboard…
This paper presents a framework for planning safe and efficient paths for a legged robot in rough and unstructured terrain. The proposed approach allows to exploit the distinctive obstacle negotiation capabilities of legged robots, while keeping the complexity low enough to enable planning over cons…