19 citations · 66 across the 27 of their papers we have counts for
28 papers
Just in time Informed Trees: Manipulability-Aware Asymptotically Optimized Motion Planning
Kuanqi Cai, Liding Zhang, Xinwen Su +6
In high-dimensional robotic path planning, traditional sampling-based methods often struggle to efficiently identify both feasible and optimal paths in complex, multi-obstacle envi…
Estimated Informed Anytime Search for Sampling-Based Planning via Adaptive Sampler
Liding Zhang, Kuanqi Cai, Yu Zhang +5
Path planning in robotics often involves solving continuously valued, high-dimensional problems. Popular informed approaches include graph-based searches, such as A*, and sampling-…
Scalable Learning of High-Dimensional Demonstrations with Composition of Linear Parameter Varying Dynamical Systems
Shreenabh Agrawal, Hugo T. M. Kussaba, Lingyun Chen +4
Learning from Demonstration (LfD) techniques enable robots to learn and generalize tasks from user demonstrations, eliminating the need for coding expertise among end-users. One es…
UniConFlow: A Unified Constrained Flow-Matching Framework for Certified Motion Planning
Zewen Yang, Xiaobing Dai, Dian Yu +4
Generative models have become increasingly powerful tools for robot motion generation, enabling flexible and multimodal trajectory generation across various tasks. Yet, most existi…
GIFT: Geometry-Induced Functional Transfer for Category-level Object Manipulation
Cristiana de Farias, Luis Figueredo, Riddhiman Laha +5
Robotic manipulation of unfamiliar objects in new environments is challenging due to limited generalisation capabilities. We propose a new skill transfer framework, GIFT (Geometry-…
On the Synthesis of Reactive Collision-Free Whole-Body Robot Motions: A Complementarity-based Approach
Haowen Yao, Riddhiman Laha, Anirban Sinha +4
This paper is about generating motion plans for high degree-of-freedom systems that account for collisions along the entire body. A particular class of mathematical programs with c…
A General Formulation for Path Constrained Time-Optimized Trajectory Planning with Environmental and Object Contacts
Dasharadhan Mahalingam, Aditya Patankar, Riddhiman Laha +3
A typical manipulation task consists of a manipulator equipped with a gripper to grasp and move an object with constraints on the motion of the hand-held object, which may be due t…
Time-Optimized Trajectory Planning for Non-Prehensile Object Transportation in 3D
Lingyun Chen, Haoyu Yu, Abdeldjallil Naceri +2
Non-prehensile object transportation offers a way to enhance robotic performance in object manipulation tasks, especially with unstable objects. Effective trajectory planning requi…
Autonomous and Teleoperation Control of a Drawing Robot Avatar
Lingyun Chen, Abdeldjallil Naceri, Abdalla Swikir +2
A drawing robot avatar is a robotic system that allows for telepresence-based drawing, enabling users to remotely control a robotic arm and create drawings in real-time from a remo…
Optimal Control for Clutched-Elastic Robots: A Contact-Implicit Approach
Dennis Ossadnik, Vasilije Rakčević, Mehmet C. Yildirim +4
Intrinsically elastic robots surpass their rigid counterparts in a range of different characteristics. By temporarily storing potential energy and subsequently converting it to kin…
Compositional Construction of Barrier Functions for Switched Impulsive Systems
Katharina Bieker, Hugo Tadashi Kussaba, Philipp Scholl +4
Many systems occurring in real-world applications, such as controlling the motions of robots or modeling the spread of diseases, are switched impulsive systems. To ensure that the…
Learning Barrier-Certified Polynomial Dynamical Systems for Obstacle Avoidance with Robots
Martin Schonger, Hugo T. M. Kussaba, Lingyun Chen +4
Established techniques that enable robots to learn from demonstrations are based on learning a stable dynamical system (DS). To increase the robots' resilience to perturbations dur…
Safe Execution of Learned Orientation Skills with Conic Control Barrier Functions
Zheng Shen, Matteo Saveriano, Fares J. Abu-Dakka +1
In the field of Learning from Demonstration (LfD), Dynamical Systems (DSs) have gained significant attention due to their ability to generate real-time motions and reach predefined…
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…
Smooth real-time motion planning based on a cascade dual-quaternion screw-geometry MPC
Ainoor Teimoorzadeh, Frederico Fernandes Afonso Silva, Luis F. C. Figueredo +1
This paper investigates the tracking problem of a smooth coordinate-invariant trajectory using dual quaternion algebra. The proposed architecture consists of a cascade structure in…
ULT-model: Towards a one-legged unified locomotion template model for forward hopping with an upright trunk
Dennis Ossadnik, Elisabeth Jensen, Sami Haddadin
While many advancements have been made in the development of template models for describing upright-trunk locomotion, the majority of the effort has been focused on the stance phas…
Nonlinear stiffness allows passive dynamic hopping for one-legged robots with an upright trunk
Dennis Ossadnik, Elisabeth Jensen, Sami Haddadin
Template models are frequently used to simplify the control dynamics for robot hopping or running. Passive limit cycles can emerge for such systems and be exploited for energy-effi…
Anthropomorphic Grasping with Neural Object Shape Completion
Diego Hidalgo-Carvajal, Hanzhi Chen, Gemma C. Bettelani +6
The progressive prevalence of robots in human-suited environments has given rise to a myriad of object manipulation techniques, in which dexterity plays a paramount role. It is wel…
Optimally Controlling the Timing of Energy Transfer in Elastic Joints: Experimental Validation of the Bi-Stiffness Actuation Concept
Edmundo Pozo Fortunić, Mehmet C. Yildirim, Dennis Ossadnik +3
Elastic actuation taps into elastic elements' energy storage for dynamic motions beyond rigid actuation. While Series Elastic Actuators (SEA) and Variable Stiffness Actuators (VSA)…
Learning optimal controllers: a dynamical motion primitive approach
Hugo T. M. Kussaba, Abdalla Swikir, Fan Wu +3
Real-time computation of optimal control is a challenging problem and, to solve this difficulty, many frameworks proposed to use learning techniques to learn (possibly sub-optimal)…
BSA -- Bi-Stiffness Actuation for optimally exploiting intrinsic compliance and inertial coupling effects in elastic joint robots
Dennis Ossadnik, Mehmet C. Yildirim, Fan Wu +4
Compliance in actuation has been exploited to generate highly dynamic maneuvers such as throwing that take advantage of the potential energy stored in joint springs. However, the e…
A Solution to Slosh-free Robot Trajectory Optimization
Rafael I. Cabral Muchacho, Riddhiman Laha, Luis F. C. Figueredo +1
This paper is about fast slosh free fluid transportation. Existing approaches are either computationally heavy or only suitable for specific robots and container shapes. We model t…
Towards Task-Specific Modular Gripper Fingers: Automatic Production of Fingertip Mechanics
Johannes Ringwald, Samuel Schneider, Lingyun Chen +4
The number of sequential tasks a single gripper can perform is significantly limited by its design. In many cases, changing the gripper fingers is required to successfully conduct…
Motion Planning using Reactive Circular Fields: A 2D Analysis of Collision Avoidance and Goal Convergence
Marvin Becker, Johannes Köhler, Sami Haddadin +1
Recently, many reactive trajectory planning approaches were suggested in the literature because of their inherent immediate adaption in the ever more demanding cluttered and unpred…