6 papers · 1 filter
S2M-Trek: From Single to Multi-Sphere Transport via Per-Frame Deep Sets on a Wheel-Legged Robot
Zong Chen, Xuebin Li, Jinpeng Xiao +5
We study the problem of scaling dynamic loco-manipulation from a single free-rolling sphere to multiple spheres transported simultaneously on the back of a wheel-legged quadruped,…
Whole-body Motion Control of an Omnidirectional Wheel-Legged Mobile Manipulator via Contact-Aware Dynamic Optimization
Zong Chen, Shaoyang Li, Ben Liu +3
Wheel-legged robots with integrated manipulators hold great promise for mobile manipulation in logistics, industrial automation, and human-robot collaboration. However, unified con…
FDSPC: Fast and Direct Smooth Path Planning via Continuous Curvature Integration
Zong Chen, Yiqun Li
In recent decades, global path planning of robot has seen significant advancements. Both heuristic search-based methods and probability sampling-based methods have shown capabiliti…
TacDiffusion: Force-domain Diffusion Policy for Precise Tactile Manipulation
Yansong Wu, Zongxie Chen, Fan Wu +6
Assembly is a crucial skill for robots in both modern manufacturing and service robotics. However, mastering transferable insertion skills that can handle a variety of high-precisi…
Optimal Multilayered Motion Planning for Multiple Differential Drive Mobile Robots with Hierarchical Prioritization (OM-MP)
Zong Chen, Songyuan Fa, Yiqun Li
We present a novel framework for addressing the challenges of multi-Agent planning and formation control within intricate and dynamic environments. This framework transforms the Mu…
Fast Safe Rectangular Corridor-based Online AGV Trajectory Optimization with Obstacle Avoidance
Shaoqiang Liang, Songyuan Fa, Yiqun Li
Automated Guided Vehicles (AGVs) are essential in various industries for their efficiency and adaptability. However, planning trajectories for AGVs in obstacle-dense, unstructured…