William Guffey — accepted AI-conference papers

2022

Safety-Critical Manipulation for Collision-Free Food Preparation

Andrew Singletary, William Guffey, Tamás G. Molnár, Ryan W. Sinnet, Aaron D. Ames

RA-L 2022

Recent advances allow for the automation of food preparation in high-throughput environments, yet the successful deployment of these robots requires the planning and execution of quick, robust, and ultimately collision-free behaviors. In this work, we showcase a novel framework for modifying previou

Cited by 63 Source ↗Scholar ↗

2018

Direct Collocation for Dynamic Behaviors With Nonprehensile Contacts: Application to Flipping Burgers

Shishir Kolathaya, William Guffey, Ryan W. Sinnet, Aaron D. Ames

RA-L 2018

To realize robotic systems in real-world settings, e.g., in restaurants, it will be necessary to achieve dynamic manipulation of nontrivial objects. In this context, this letter discusses methodologies used to realize trajectories in a robotic arm platform, specifically, applied to flipping burgers

Cited by 14 Source ↗Scholar ↗