6 accepted papers
Trajectory optimisation methods for robotic motion planning often require the use of first order derivatives of the dynamics of the system with respect to the states and controls of the system. Particularly when multi-contact dynamics are present, these derivatives are often numerically approximated…
Planning for deformable object manipulation has been a challenge for a long time in robotics due to its high computational cost. In this work, we propose to reduce this cost by reducing the number of pick points on a deformable object in the action space. We do this by identifying a small number of…
We consider a decluttering problem where multiple rigid convex polygonal objects rest in randomly placed positions and orientations on a planar surface and must be efficiently transported to a packing box using both single and multi-object grasps. Prior work considered frictionless multi-object gras…
We present a manipulation planning algorithm for a robot to keep an object stable under changing external forces. We particularly focus on the case where a human may be applying forceful operations, e.g. cutting or drilling, on an object that the robot is holding. The planner produces an efficient p…
When performing multi-robot tasks, sensory feedback is crucial in reducing uncertainty for correct execution. Yet the utilization of sensors should be planned as an integral part of the task planning, taken into account several factors such as the tolerance of different inferred properties of the sc…
This paper addresses the problem of finding robot configurations to grasp assembly parts during a sequence of collaborative assembly operations. We formulate the search for such configurations as a constraint satisfaction problem (CSP). Collision constraints in an operation and transfer constraints…