8 papers
ReVAMP: Vector-Accelerated Motion Planning for Kinematically-Constrained Systems via Reparameterization
Shrutheesh R. Iyer, Thomas Cohn, Zachary Kingston
Robots often must satisfy one or more constraints during motion planning for real-world tasks. When such constraints reduce the valid configuration space to a measure-zero subset,…
Becoming a Fruit Ninja: Real-Time Probabilistic Kinodynamic Planning for Manipulator Projectile Interception
Lucas Chen, Austin Garrett, Andrew Niu +1
Projectile interception is a challenging dynamic manipulation problem. Intercepting a thrown object with a robot arm requires reaching a point on the object's path as the object pa…
Stochastic Neural Signed Swept Volume for Real-time Chance-Constrained Trajectory Optimization
Qingyi Chen, Kevin Zhang, Lucas Chen +1
Collision-free motion planning requires reliable collision models from sensed environments and validation of states along a continuous trajectory. To make this tractable, most plan…
Fast Asymptotically Optimal Kinodynamic Planning via Vectorization
Yitian Gao, Andrew Lu, Zachary Kingston
Sampling-based motion planners have been shown to be effective for systems with complex kinodynamic constraints and high dimensionality. However, these algorithms struggle to achie…
Differentiable Particle Optimization for Fast Sequential Manipulation
Lucas Chen, Shrutheesh Raman Iyer, Zachary Kingston
Sequential robot manipulation tasks require finding collision-free trajectories that satisfy geometric constraints across multiple object interactions in potentially high-dimension…
Parallel Simulation of Contact and Actuation for Soft Growing Robots
Yitian Gao, Lucas Chen, Priyanka Bhovad +3
Soft growing robots, commonly referred to as vine robots, have demonstrated remarkable ability to interact safely and robustly with unstructured and dynamic environments. It is the…
Linking Exteroception and Proprioception through Improved Contact Modeling for Soft Growing Robots
Francesco Fuentes, Serigne Diagne, Zachary Kingston +1
Passive deformation due to compliance is a commonly used benefit of soft robots, providing opportunities to achieve robust actuation with few active degrees of freedom. Soft growin…
Physics-Grounded Differentiable Simulation for Soft Growing Robots
Lucas Chen, Yitian Gao, Sicheng Wang +3
Soft-growing robots (i.e., vine robots) are a promising class of soft robots that allow for navigation and growth in tightly confined environments. However, these robots remain cha…