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cs.RO2023
A Novel Planning Framework for Complex Flipping Manipulation of Multiple Mobile Manipulators
Wenhang Liu, Meng Ren, Kun Song +2
During complex object manipulation, manipulator systems often face the configuration disconnectivity problem due to closed-chain constraints. Although regrasping can be adopted to…
cs.RO2023
FHT-Map: Feature-based Hierarchical Topological Map for Relocalization and Path Planning
Kun Song, Wenhang Liu, Gaoming Chen +2
Topological maps are favorable for their small storage compared to geometric map. However, they are limited in relocalization and path planning capabilities. To solve this problem,…
cs.RO2023
Forward Kinematics of Object Transporting by a Multi-Robot System with a Deformable Sheet
Jiawei Hu, Wenhang Liu, Jingang Yi +1
We present object handling and transporting by a multi-robot team with a deformable sheet as a carrier. Due to the deformability of the sheet and the high dimension of the whole sy…