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cs.RO2026
TCBiRRT: Rapid Motion Planning for Tightly Coupled Dual-arm Space Manipulator Using Task-space Random Expansion
Jiawei Zhang, Xinhao Miao, Jifeng Guo +2
Planning the motion path for a tightly coupled dual-arm space manipulator under closed-chain constraints is a fundamental yet challenging problem in on-orbit assembly of large-scal…
cs.RO2025
Local Path Optimization in The Latent Space Using Learned Distance Gradient
Jiawei Zhang, Chengchao Bai, Wei Pan +2
Constrained motion planning is a common but challenging problem in robotic manipulation. In recent years, data-driven constrained motion planning algorithms have shown impressive p…
cs.RO2024
Virtual-force Based Visual Servo for Multiple Peg-in-Hole Assembly with Tightly Coupled Multi-Manipulator
Jiawei Zhang, Chengchao Bai, Wei Pan +1
Multiple Peg-in-Hole (MPiH) assembly is one of the fundamental tasks in robotic assembly. In the MPiH tasks for large-size parts, it is challenging for a single manipulator to simu…