Zobrazeno 1 - 10
of 48
pro vyhledávání: '"Xia, Chongkun"'
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 Distance Field (SDF) of robots, seamlessly integrated with a self-collisio
Externí odkaz:
http://arxiv.org/abs/2409.14955
In the control task of mobile manipulators(MM), achieving efficient and agile obstacle avoidance in dynamic environments is challenging. In this letter, we present a safe expeditious whole-body(SEWB) control for MMs that ensures both external and int
Externí odkaz:
http://arxiv.org/abs/2409.14775
This paper presents a framework to achieve compliant catching with cushioning mechanism(CCCM) for mobile manipulators. First, we introduce a two-level motion optimization scheme, comprising a high-level capture planner and a low-level joint planner.
Externí odkaz:
http://arxiv.org/abs/2409.14754
The robotic dexterous hand is responsible for both grasping and dexterous manipulation. The number of motors directly influences both the dexterity and the cost of such systems. In this paper, we present MuxHand, a robotic hand that employs a time-di
Externí odkaz:
http://arxiv.org/abs/2409.12455
Inverse Kinematics (IK) is to find the robot's configurations that satisfy the target pose of the end effector. In motion planning, diverse configurations were required in case a feasible trajectory was not found. Meanwhile, collision checking (CC),
Externí odkaz:
http://arxiv.org/abs/2408.11293
Normalizing flow is a generative modeling approach with efficient sampling. However, Flow-based models suffer two issues: 1) If the target distribution is manifold, due to the unmatch between the dimensions of the latent target distribution and the d
Externí odkaz:
http://arxiv.org/abs/2403.08216
The classical path planners, such as sampling-based path planners, can provide probabilistic completeness guarantees in the sense that the probability that the planner fails to return a solution if one exists, decays to zero as the number of samples
Externí odkaz:
http://arxiv.org/abs/2401.09819
Whether a PTAS (polynomial-time approximation scheme) exists for game equilibria has been an open question, and its absence has indications and consequences in three fields: the practicality of methods in algorithmic game theory, non-stationarity and
Externí odkaz:
http://arxiv.org/abs/2401.00747
Multi-task learning of deformable object manipulation is a challenging problem in robot manipulation. Most previous works address this problem in a goal-conditioned way and adapt goal images to specify different tasks, which limits the multi-task lea
Externí odkaz:
http://arxiv.org/abs/2303.01310
Publikováno v:
IEEE International Conference on Systems, Man and Cybernetics 2022 (SMC 2022)
Rearranging deformable objects is a long-standing challenge in robotic manipulation for the high dimensionality of configuration space and the complex dynamics of deformable objects. We present a novel framework, Graph-Transporter, for goal-condition
Externí odkaz:
http://arxiv.org/abs/2302.10445