23 citations · 35 across the 15 of their papers we have counts for
18 papers · 1 filter
Locally Optimal Estimation and Control of Cable Driven Parallel Robots using Time Varying Linear Quadratic Gaussian Control
Gerry Chen, Seth Hutchinson, Frank Dellaert
We present a locally optimal tracking controller for Cable Driven Parallel Robot (CDPR) control based on a time-varying Linear Quadratic Gaussian (TV-LQG) controller. In contrast t…
Momentum-Aware Trajectory Optimization and Control for Agile Quadrupedal Locomotion
Ziyi Zhou, Bruce Wingo, Nathan Boyd +2
In this letter, we present a versatile hierarchical offline planning algorithm, along with an online control pipeline for agile quadrupedal locomotion. Our offline planner alternat…
Learning Generalizable Vision-Tactile Robotic Grasping Strategy for Deformable Objects via Transformer
Yunhai Han, Kelin Yu, Rahul Batra +6
Reliable robotic grasping, especially with deformable objects such as fruits, remains a challenging task due to underactuated contact interactions with a gripper, unknown object dy…
Extended Version of GTGraffiti: Spray Painting Graffiti Art from Human Painting Motions with a Cable Driven Parallel Robot
Gerry Chen, Sereym Baek, Juan-Diego Florez +4
We present GTGraffiti, a graffiti painting system from Georgia Tech that tackles challenges in art, hardware, and human-robot collaboration. The problem of painting graffiti in a h…
An Interleaved Approach to Trait-Based Task Allocation and Scheduling
Glen Neville, Andrew Messing, Harish Ravichandar +2
To realize effective heterogeneous multi-robot teams, researchers must leverage individual robots' relative strengths and coordinate their individual behaviors. Specifically, heter…
A Resilient and Energy-Aware Task Allocation Framework for Heterogeneous Multi-Robot Systems
Gennaro Notomista, Siddharth Mayya, Yousef Emam +4
In the context of heterogeneous multi-robot teams deployed for executing multiple tasks, this paper develops an energy-aware framework for allocating tasks to robots in an online f…
LES: Locally Exploitative Sampling for Robot Path Planning
Sagar Suhas Joshi, Seth Hutchinson, Panagiotis Tsiotras
Sampling-based algorithms solve the path planning problem by generating random samples in the search-space and incrementally growing a connectivity graph or a tree. Conventionally,…
Vision-Based Shape Reconstruction of Soft Continuum Arms Using a Geometric Strain Parametrization
Ali AlBeladi, Girish Krishnan, Mohamed-Ali Belabbas +1
Interest in soft continuum arms has increased as their inherent material elasticity enables safe and adaptive interactions with the environment. However to achieve full autonomy in…
TIE: Time-Informed Exploration For Robot Motion Planning
Sagar Suhas Joshi, Seth Hutchinson, Panagiotis Tsiotras
Anytime sampling-based methods are an attractive technique for solving kino-dynamic motion planning problems. These algorithms scale well to higher dimensions and can efficiently h…
Robot Calligraphy using Pseudospectral Optimal Control in Conjunction with a Novel Dynamic Brush Model
Sen Wang, Jiaqi Chen, Xuanliang Deng +2
Chinese calligraphy is a unique art form with great artistic value but difficult to master. In this paper, we formulate the calligraphy writing problem as a trajectory optimization…
Safe Optimal Control under Parametric Uncertainties
Hemanth Sarabu, Venkata Ramana Makkapati, Vinodhini Comandur +2
We address the issue of safe optimal path planning under parametric uncertainties using a novel regularizer that allows trading off optimality with safety. The proposed regularizer…
Robotic Sculpting with Collision-free Motion Planning in Voxel Space
Abhinav Jain, Seth Hutchinson, Frank Dellaert
In this paper, we explore the task of robot sculpting. We propose a search based planning algorithm to solve the problem of sculpting by material removal with a multi-axis manipula…
Robot Calligraphy using Pseudospectral Optimal Control in Conjunction with a Novel Dynamic Brush Model
Sen Wang, Jiaqi Chen, Xuanliang Deng +2
Chinese calligraphy is a unique art form with great artistic value but difficult to master. In this paper, we formulate the calligraphy writing problem as a trajectory optimization…
A Study of a Class of Vibration-Driven Robots: Modeling, Analysis, Control and Design of the Brushbot
Gennaro Notomista, Siddharth Mayya, Anirban Mazumdar +2
In this paper we present a study of a specific class of vibration-driven robots: the brushbots. In a bottom-up fashion, we start by deriving dynamic models of the brushes and we di…
Non-Uniform Robot Densities in Vibration Driven Swarms Using Phase Separation Theory
Siddharth Mayya, Gennaro Notomista, Dylan Shell +2
In robot swarms operating under highly restrictive sensing and communication constraints, individuals may need to use direct physical proximity to facilitate information exchange.…
An Optimal Task Allocation Strategy for Heterogeneous Multi-Robot Systems
Gennaro Notomista, Siddharth Mayya, Seth Hutchinson +1
For a team of heterogeneous robots executing multiple tasks, we propose a novel algorithm to optimally allocate tasks to robots while accounting for their different capabilities. M…
Hierarchical Optimization for Whole-Body Control of Wheeled Inverted Pendulum Humanoids
Munzir Zafar, Seth Hutchinson, Evangelos A. Theodorou
In this paper, we present a whole-body control framework for Wheeled Inverted Pendulum (WIP) Humanoids. WIP Humanoids are redundant manipulators dynamically balancing themselves on…
Online Center of Mass Estimation for a Humanoid Wheeled Inverted Pendulum Robot
Munzir Zafar, Akash Patel, Bogdan Vlahov +3
We present a novel application of robust control and online learning for the balancing of a n Degree of Freedom (DoF), Wheeled Inverted Pendulum (WIP) humanoid robot. Our technique…