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cs.RO2025
NMPC-based Motion Planning with Adaptive Weighting for Dynamic Object Interception
Chen Cai, Saksham Kohli, Steven Liu
Catching fast-moving objects serves as a benchmark for robotic agility, posing significant coordination challenges for cooperative manipulator systems holding a catcher, particular…
cs.RO2025
MPC-based Coarse-to-Fine Motion Planning for Robotic Object Transportation in Cluttered Environments
Chen Cai, Ernesto Dickel Saraiva, Ya-jun Pan +1
This letter presents a novel coarse-to-fine motion planning framework for robotic manipulation in cluttered, unmodeled environments. The system integrates a dual-camera perception…