4 papers
Hierarchically Accelerated Coverage Path Planning for Redundant Manipulators
Yeping Wang, Michael Gleicher
Many robotic applications, such as sanding, polishing, wiping and sensor scanning, require a manipulator to dexterously cover a surface using its end-effector. In this paper, we pr…
Anytime Planning for End-Effector Trajectory Tracking
Yeping Wang, Michael Gleicher
End-effector trajectory tracking algorithms find joint motions that drive robot manipulators to track reference trajectories. In practical scenarios, anytime algorithms are preferr…
Motion Comparator: Visual Comparison of Robot Motions
Yeping Wang, Alexander Peseckis, Zelong Jiang +1
Roboticists compare robot motions for tasks such as parameter tuning, troubleshooting, and deciding between possible motions. However, most existing visualization tools are designe…
IKLink: End-Effector Trajectory Tracking with Minimal Reconfigurations
Yeping Wang, Carter Sifferman, Michael Gleicher
Many applications require a robot to accurately track reference end-effector trajectories. Certain trajectories may not be tracked as single, continuous paths due to the robot's ki…