Zobrazeno 1 - 10
of 190
pro vyhledávání: '"Shirai, Yuki"'
This paper presents SCALER, a versatile free-climbing multi-limbed robot that is designed to achieve tightly coupled simultaneous locomotion and dexterous grasping. Although existing quadruped-limbed robots have shown impressive dexterous skills such
Externí odkaz:
http://arxiv.org/abs/2312.04856
Planning and control for uncertain contact systems is challenging as it is not clear how to propagate uncertainty for planning. Contact-rich tasks can be modeled efficiently using complementarity constraints among other techniques. In this paper, we
Externí odkaz:
http://arxiv.org/abs/2303.13382
Generalizable manipulation requires that robots be able to interact with novel objects and environment. This requirement makes manipulation extremely challenging as a robot has to reason about complex frictional interactions with uncertainty in physi
Externí odkaz:
http://arxiv.org/abs/2303.08965
Humans can effortlessly perform very complex, dexterous manipulation tasks by reacting to sensor observations. In contrast, robots can not perform reactive manipulation and they mostly operate in open-loop while interacting with their environment. Co
Externí odkaz:
http://arxiv.org/abs/2301.06698
In this paper we present a motion planner for LIMMS, a modular multi-agent, multi-modal package delivery platform. A single LIMMS unit is a robot that can operate as an arm or leg depending on how and what it is attached to, e.g., a manipulator when
Externí odkaz:
http://arxiv.org/abs/2208.00495
Autor:
Shirai, Yuki, Lin, Xuan, Schperberg, Alexander, Tanaka, Yusuke, Kato, Hayato, Vichathorn, Varit, Hong, Dennis
While motion planning of locomotion for legged robots has shown great success, motion planning for legged robots with dexterous multi-finger grasping is not mature yet. We present an efficient motion planning framework for simultaneously solving loco
Externí odkaz:
http://arxiv.org/abs/2207.01418
Autor:
Tanaka, Yusuke, Shirai, Yuki, Lin, Xuan, Schperberg, Alexander, Kato, Hayato, Swerdlow, Alexander, Kumagai, Naoya, Hong, Dennis
This paper introduces SCALER, a quadrupedal robot that demonstrates climbing on bouldering walls, overhangs, ceilings and trotting on the ground. SCALER is one of the first high-degrees of freedom four-limbed robots that can free-climb under the Eart
Externí odkaz:
http://arxiv.org/abs/2207.01180
In multi-point contact systems, precise force control is crucial for achieving stable and safe interactions between robots and their environment. Thus, we demonstrate an admittance controller with auto-tuning that can be applied for these systems. Th
Externí odkaz:
http://arxiv.org/abs/2207.01033
Generalizable manipulation requires that robots be able to interact with novel objects and environment. This requirement makes manipulation extremely challenging as a robot has to reason about complex frictional interaction with uncertainty in physic
Externí odkaz:
http://arxiv.org/abs/2203.11412
Publikováno v:
Under review at IROS 2022
This paper presents a chance-constrained formulation for robust trajectory optimization during manipulation. In particular, we present a chance-constrained optimization for Stochastic Discrete-time Linear Complementarity Systems (SDLCS). To solve the
Externí odkaz:
http://arxiv.org/abs/2203.02616