5 papers · 1 filter
Differentiable Collision-Free Parametric Corridors
Jon Arrizabalaga, Zachary Manchester, Markus Ryll
This paper presents a method to compute differentiable collision-free parametric corridors. In contrast to existing solutions that decompose the obstacle-free space into multiple c…
Dual Quaternion Control of UAVs with Cable-suspended Load
Yuxia Yuan, Markus Ryll
Modeling the kinematics and dynamics of robotics systems with suspended loads using dual quaternions has not been explored so far. This paper introduces a new innovative control st…
Geometric Slosh-Free Tracking for Robotic Manipulators
Jon Arrizabalaga, Lukas Pries, Riddhiman Laha +3
This work focuses on the agile transportation of liquids with robotic manipulators. In contrast to existing methods that are either computationally heavy, system/container specific…
Robots That Can See: Leveraging Human Pose for Trajectory Prediction
Tim Salzmann, Lewis Chiang, Markus Ryll +3
Anticipating the motion of all humans in dynamic environments such as homes and offices is critical to enable safe and effective robot navigation. Such spaces remain challenging as…
Spatial motion planning with Pythagorean Hodograph curves
Jon Arrizabalaga, Markus Ryll
This paper presents a two-stage prediction-based control scheme for embedding the environment's geometric properties into a collision-free Pythagorean Hodograph spline, and subsequ…