We present a new optimization-based approach for robotic motion planning among
obstacles. Like CHOMP (Covariant Hamiltonian Optimization for Motion Planning), our …

We present a novel approach for incorporating collision avoidance into trajectory
optimization as a method of solving robotic motion planning problems. At the core of our …

In recent years, many works have appeared, which present novel mechanical designs,
control strategies, or trajectory planning algorithms for improved energy efficiency. The …

The coexistence of humans and robots in fenceless robot cells requires robust safety
precautions to prevent humans from being injured. Currently, safety is ensured by limiting …

The grasping and stabilization of a spinning, noncooperative target satellite by means of a
free-flying robot is addressed. A method for computing feasible robot trajectories for …

Generating motions to grasp the objects in the scene is critical in robotic manipulation. The
feasibility and quality of the output trajectory are closely related to both the grasping pose …

In this work we present a framework for kinesthetic teaching and iterative refinement of
whole body motions. For detection of external forces we apply a momentum based …

Bipedal locomotion is a difficult control problem due to issues such as underactuation,
unilateral constraints and the hybrid nature of stepping. In this work, using the reduced …

In this paper, we study the role of soft actuation in the reduction of the energy cost for
mechanical systems that perform cyclic tasks. The objective is to determine the optimal …

We present a numerical method to compute singularity sets in the configuration space of free-
floating robots, comparing two different criteria based on formal methods. By exploiting …