Motion planning is a fundamental problem in autonomous robotics that requires finding a
path to a specified goal that avoids obstacles and takes into account a robot's limitations and …

As a variant of rapidly exploring random tree (RRT), RRT* is an important improvement of
sampling-based algorithms. Although it can provide a feasible planning solution with a …

On campus, the complexity of the environment and the lack of regulatory constraints make it
difficult to model the environment, resulting in less efficient motion planning algorithms. To …

Bidirectional path and motion planning approaches decrease planning time, on average,
compared to their unidirectional counterparts. In single-query feasible motion planning …

Tensegrity-based robots can achieve locomotion through shape deformation and
compliance. They are highly adaptable to their surroundings, and are lightweight, low cost …

Automated, highly precise online manipulation of nanoscale and microscale objects is
essential to achieve scalable nanomanufacturing. However, nanoparticles and …

This work proposes a framework for tracking a desired path of an object held by an adaptive
hand via within-hand manipulation. Such underactuated hands are able to passively …

The ability to precisely and efficiently manipulate nano-and micro-scale objects is a key step
in enabling applications in areas such as nano-medicine and nano/micro-device assembly …

Tensegrity-based robots can achieve locomotion through shape deformation and
compliance. They are highly adaptable to their surroundings, have light weight, low cost and …

Steerable needles are capable of accurately targeting difficult-to-reach clinical sites in the
body. By bending around sensitive anatomical structures, steerable needles have the …