7 papers
A Reconfigured Wheel-Legged Robot for Enhanced Steering and Adaptability
Zhicheng Song, Jinglan Xu, Chunxin Zheng +3
Wheel-legged robots integrate leg agility on rough terrain with wheel efficiency on flat ground. However, most existing designs do not fully capitalize on the benefits of both legg…
Fast and Safe Trajectory Optimization for Mobile Manipulators With Neural Configuration Space Distance Field
Yulin Li, Zhiyuan Song, Yiming Li +8
Mobile manipulators promise agile, long-horizon behavior by coordinating base and arm motion, yet whole-body trajectory optimization in cluttered, confined spaces remains difficult…
Embracing Bulky Objects with Humanoid Robots: Whole-Body Manipulation with Reinforcement Learning
Chunxin Zheng, Kai Chen, Zhihai Bi +5
Whole-body manipulation (WBM) for humanoid robots presents a promising approach for executing embracing tasks involving bulky objects, where traditional grasping relying on end-eff…
SAMP: Spatial Anchor-based Motion Policy for Collision-Aware Robotic Manipulators
Kai Chen, Zhihai Bi, Guoyang Zhao +4
Neural-based motion planning methods have achieved remarkable progress for robotic manipulators, yet a fundamental challenge lies in simultaneously accounting for both the robot's…
Interactive Navigation for Legged Manipulators with Learned Arm-Pushing Controller
Zhihai Bi, Kai Chen, Chunxin Zheng +3
Interactive navigation is crucial in scenarios where proactively interacting with objects can yield shorter paths, thus significantly improving traversal efficiency. Existing metho…
FRTree Planner: Robot Navigation in Cluttered and Unknown Environments with Tree of Free Regions
Yulin Li, Zhicheng Song, Chunxin Zheng +4
In this work, we present FRTree planner, a novel robot navigation framework that leverages a tree structure of free regions, specifically designed for navigation in cluttered and u…