—The role of a compliant motion scheme is to control a robot manipulator in contact with its environment. By accommodating with the interaction force, the manipulator can be used...
Abstract We present an optimal timing control formulation for the problem of controlling autonomous puppets. In particular, by appropriately timing the different movements, entire ...
In future planetary exploration missions, rovers will be required to autonomously traverse challenging environments. Much of the previous work in robot motion planning cannot be s...
Abstract Our work aims at developing a robust discriminant controller for robot programming by demonstration. It addresses two core issues of imitation learning, namely what to...
— We present an approach to motion planning for highly articulated systems that aims to ensure robust execution by augmenting the planning process to reason about the robot’s a...
Philipp Michel, Christian Scheurer, James J. Kuffn...