2 papers
cs.RO2025
CushionCatch: A Compliant Catching Mechanism for Mobile Manipulators via Combined Optimization and Learning
Bingjie Chen, Keyu Fan, Qi Yang +6
Catching flying objects with a cushioning process is a skill commonly performed by humans, yet it remains a significant challenge for robots. In this paper, we present a framework…
cs.RO2025
Safe Expeditious Whole-Body Control of Mobile Manipulators for Collision Avoidance
Bingjie Chen, Yancong Wei, Rihao Liu +5
Whole-body reactive obstacle avoidance for mobile manipulators (MM) remains an open research problem. Control Barrier Functions (CBF), combined with Quadratic Programming (QP), hav…