55 citations · 155 across the 32 of their papers we have counts for
3 papers · 1 filter
Safe Planning for Articulated Robots Using Reachability-based Obstacle Avoidance With Spheres
Jonathan Michaux, Adam Li, Qingyi Chen +3
Generating safe motion plans in real-time is necessary for the wide-scale deployment of robots in unstructured and human-centric environments. These motion plans must be safe to en…
Multi-Modal Interaction Control of Ultrasound Scanning Robots with Safe Human Guidance and Contact Recovery
Xiangjie Yan, Yongpeng Jiang, Guokun Wu +3
Ultrasound scanning robots enable the automatic imaging of a patient's internal organs by maintaining close contact between the ultrasound probe and the patient's body during a sca…
Can't Touch This: Real-Time, Safe Motion Planning and Control for Manipulators Under Uncertainty
Jonathan Michaux, Patrick Holmes, Bohao Zhang +7
Ensuring safe, real-time motion planning in arbitrary environments requires a robotic manipulator to avoid collisions, obey joint limits, and account for uncertainties in the mass…