6 papers
Robust Nonprehensile Object Transport with Quadruped Robots
Ainoor Teimoorzadeh, Riccardo Pretto, Mario Selvaggio +2
In this paper, we present a robust nonprehensile object transportation framework for quadruped robots. An uncertainty-aware trajectory optimization method generates object motions…
Physics Residual Dynamics and Reduced Order Whole-Body Planning for Obstacle Aware Human Robot Cloth CoTransportation
Moein Forouhar, Kosar Behnia, Anirvan Dutta +5
Human--robot co-transportation of deformable objects requires predicting object deformation during motion, since obstacle clearance depends on both the grasp points and the unactua…
From Continuous Design to Delay-Aware Discrete Synthesis: Guaranteed High-Bandwidth Joint Control for PMSM Drives
Edmundo Pozo Fortunić, Mehmet C. Yildirim, Sami Haddadin
The increasing dynamic demands of modern robotic joints require current controllers to achieve high bandwidth over wide operating ranges of speed, acceleration, and torque, where c…
G-MAPP: GPU-accelerated Multi-Agent Planning and Perception for Reactive Motion Generation
Tanmay Bishnoi, Riddhiman Laha, Tobias Löw +3
Reactive motion generation in unstructured environments remains an open challenge in robotics. Due to the computational complexity of collision-free motion generation, existing met…
Optimal Control Approach for Non-prehensile Ball Juggling Using a 7-DoF Manipulator
Joel Ramadani, Vasilije Rakčević, Riddhiman Laha +4
Non-prehensile object manipulation skills are important for real-world robot interactions, enabling highly dynamic tasks such as balancing a glass on a tray or the controlled slidi…
Bridging the Sim-to-Real Gap with multipanda_ros2: A Real-Time ROS2 Framework for Multimanual Systems
Jon Škerlj, Seongjin Bien, Abdeldjallil Naceri +1
We present , a novel open-source ROS2 architecture for multi-robot control of Franka Robotics robots. Leveraging ros2 control, this framework provides native ROS2…