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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…
cs.RO2024
Efficient Collision Detection Framework for Enhancing Collision-Free Robot Motion
Xiankun Zhu, Yucheng Xin, Shoujie Li +3
Fast and efficient collision detection is essential for motion generation in robotics. In this paper, we propose an efficient collision detection framework based on the Signed Dist…