Robotic manipulators on non-inertial platforms, such as ships, have to endure large inertial forces due to the non-inertial motion of the platform. When the non-inertial platform...
We consider the problem of controlling multiple robots manipulating and transporting a payload in three dimensions via cables. Individual robot control laws and motion plans enable...
Jonathan Fink, Nathan Michael, Soonkyum Kim, Vijay...
The autonomous execution of mobile manipulation tasks in unstructured, dynamic environments requires the consideration of various motion constraints. The task itself imposes constr...
Abstract— We present a novel combination of motion planning techniques to compute motion plans for robotic arms. We compute plans that move the arm as close as possible to the go...
Ioan Alexandru Sucan, Mrinal Kalakrishnan, Sachin ...
Abstract— We consider the problem of planning collisionfree motions for general (i.e., possibly nonholonomic) redundant robots subject to task space constraints. Previous approac...