Computing optimal, collision-free trajectories for high-dimensional systems is a challenging
and important problem. Sampling-based planners struggle with the dimensionality, whereas …

We introduce an algorithm for synthesizing and verifying piecewise linear Lyapunov
functions to prove global exponential stability of piecewise linear dynamical systems. The …

Solving the inverse kinematics problem is a fundamental challenge in motion planning,
control, and calibration for articulated robots. Kinematic models for these robots are typically …

Minimally invasive surgery has undergone significant advancements in recent years,
transforming various surgical procedures by minimizing patient trauma, postoperative pain …

Inverse kinematics (IK) is the problem of finding robot joint configurations that satisfy
constraints on the position or pose of one or more end-effectors. For robots with redundant …

In this paper, we develop a novel path-constrained and collision-free optimal trajectory
planning algorithm for robot manipulators in the presence of obstacles for the following …

In contact-rich tasks, like dexterous manipulation, the hybrid nature of making and breaking
contact creates challenges for model representation and control. For example, choosing and …

This paper reports a novel result: with proper robot models on matrix Lie groups, one can
formulate the kinodynamic motion planning problem for rigid body systems as\emph {exact} …

This work links optimization approaches from hierarchical least-squares programming to
instantaneous prioritized whole-body robot control. Concretely, we formulate the hierarchical …

Inverse kinematics—finding joint poses that reach a given Cartesian-space end-effector
pose—is a fundamental operation in robotics, since goals and waypoints are typically …