5 papers
Human-like Planning for Reaching in Cluttered Environments
Mohamed Hasan, Matthew Warburton, Wisdom C. Agboh +6
Humans, in comparison to robots, are remarkably adept at reaching for objects in cluttered environments. The best existing robot planners are based on random sampling of configurat…
Parareal with a Learned Coarse Model for Robotic Manipulation
Wisdom Agboh, Oliver Grainger, Daniel Ruprecht +1
A key component of many robotics model-based planning and control algorithms is physics predictions, that is, forecasting a sequence of states given an initial state and a sequence…
Real-Time Online Re-Planning for Grasping Under Clutter and Uncertainty
Wisdom C. Agboh, Mehmet R. Dogar
We consider the problem of grasping in clutter. While there have been motion planners developed to address this problem in recent years, these planners are mostly tailored for open…
Pushing Fast and Slow: Task-Adaptive Planning for Non-prehensile Manipulation Under Uncertainty
Wisdom C. Agboh, Mehmet R. Dogar
We propose a planning and control approach to physics-based manipulation. The key feature of the algorithm is that it can adapt to the accuracy requirements of a task, by slowing d…
The Hbot : A Holonomic Spherical Haptic Interface Driven by Non-Holonomic Wheels
Wisdom C. Agboh
We present the Hbot, a holonomic, singularity-free spherical robot designed for haptic simulations. The Hbot is made up of a caged sphere actuated by steered and driven non-holonom…