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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…
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…
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…