11 accepted papers
Long-term non-prehensile planar manipulation is a challenging task for robot planning and feedback control. It is characterized by underactuation, hybrid control, and contact uncertainty. One main difficulty is to determine both the continuous and discrete contact configurations, e.g., contact point…
In Receding Horizon Planning (RHP), it is critical that the motion being executed facilitates the completion of the task, e.g. building momentum to overcome large obstacles. This requires a value function to inform the desirability of robot states. However, given the complex dynamics, value function…
In high dimensional robotic system, the manifold of the valid configuration space often has a complex shape, especially under constraints such as end-effector orientation or static stability. We propose a generative adversarial network approach to learn the distribution of valid robot configurations
Optimal control is often used in robotics for planning a trajectory to achieve some desired behavior, as expressed by the cost function. Most works in optimal control focus on finding a single optimal trajectory, which is then typically tracked by another controller. In this work, we instead conside…
This paper addresses the problem of efficiently achieving visual predictive control tasks. To this end, a memory of motion, containing a set of trajectories built off-line, is used for leveraging precomputation and dealing with difficult visual tasks. Standard regression techniques, such as k-neares…
In this paper, we propose a framework to build a memory of motion for warm-starting an optimal control solver for the locomotion task of a humanoid robot. We use HPP Loco3D, a versatile locomotion planner, to generate offline a set of dynamically consistent whole-body trajectory to be stored as the…
Trajectory optimization for motion planning requires good initial guesses to obtain good performance. In our proposed approach, we build a memory of motion based on a database of robot paths to provide good initial guesses. The memory of motion relies on function approximators and dimensionality red
In many industrial robotics applications, such as spot-welding, spray-painting or drilling, the robot is required to visit successively multiple targets. The robot travel time among the targets is a significant component of the overall execution time. This travel time is in turn greatly affected by…
Industrial robots are increasingly used in various applications where the robot accuracy becomes very important, hence calibrations of the robot's kinematic parameters and the measurement system's extrinsic parameters are required. However, the existing calibration approaches are either too cumberso…
In surface treatment processes like plasma spraying and spray painting of workpieces, protecting the uninvolved surface by applying masking tape is a common process. Due to the operation complexity for different geometries, such taping tasks depend on a lot of manual works, which is tedious and tiri…
In monocopter flight, two important parameters are required for control: angular rates and heading direction. Small monocopters fly at a very high speed (more than 600rpm), which can be out of the typical gyroscope limit. Very high speed gyroscopes do exist, but the price is high and it can only mea…