9 accepted papers
Mass customization and shorter manufacturing cycles are becoming more important among small and medium-sized companies. However, classical industrial robots struggle to cope with product variation and dynamic environments. In this paper, we present CoBT, a collaborative programming by demonstration…
Performance measures are essential to characterize a robot's ability to carry out manipulation tasks. Generally, these measures examine the system's kinematic transformations from configuration to task space, but the <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.o
We present a contact-implicit trajectory optimization framework that can plan contact-interaction trajectories for different robot architectures and tasks using a trivial initial guess and without requiring any parameter tuning. This is achieved by using a relaxed contact model along with an automat…
In this paper, we propose a contact-implicit trajectory optimization (CITO) method based on a variable smooth contact model (VSCM) and successive convexification (SCvx). The VSCM facilitates the convergence of gradient-based optimization without compromising physical fidelity. On the other hand, the…
A Mobile Cable-Driven Parallel Robot (MCDPR) is composed of a classical Cable-Driven Parallel Robot (CDPR) carried by multiple mobile bases. The additional mobilities due the motion of the mobile bases allow such systems to autonomously modify their geometric architecture, and thus make them suitabl…
This paper presents a new method of maximizing the free space for a robot operating in a constrained environment under operator supervision. The objective is to make the resulting trajectories more robust to operator commands and/or changes in the environment. To represent the volume of free space,…
In this paper, we analyze the effects of contact models on contact-implicit trajectory optimization for manipulation. We consider three different approaches: (1)a contact model that is based on complementarity constraints, (2)a smooth contact model, and our proposed method (3) a variable smooth cont…
Cable-Driven Parallel Robots (CDPRs) have several advantages over conventional parallel manipulators most notably a large workspace. CDPRs whose workspace can be further increased by modification of the geometric architecture are known as Reconfigurable Cable Driven Parallel Robots(RCDPRs). A novel…
We analyze algorithms for approximating a function $f(x) = \Phi x$ mapping $\Re^d$ to $\Re^d$ using deep linear neural networks, i.e. that learn a function $h$ parameterized by matrices $\Theta_1,...,\Theta_L$ and defined by $h(x) = \Theta_L \Theta_{L-1} ... \Theta_1 x$. We focus on algorithms that…