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ICRA 2023

1655 papers · 0 AI summaries · 2023

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1642 result(s) for “Multi-Contact Whole-Body Motion Planning and Control” Page 1 of 33
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Multi-Contact Task and Motion Planning Guided by Video Demonstration
Kateryna Zorina, David Kovar, Florent Lamiraux, Nicolas Mansard, Justin Carpentier, Josef Sivic, Vladimir Petrik
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BiConMP: A Nonlinear Model Predictive Control Framework for Whole Body Motion Planning
Avadesh Meduri, Paarth Shah, Julian Viereck, Majid Khadiv, Ioannis Havoutis, Ludovic Righetti
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Emulating Human Kinematic Behavior on Lower-Limb Prostheses Via Multi-Contact Models and Force-Based Nonlinear Control
Rachel Gehlhar, Aaron Ames
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Online Whole-Body Motion Planning for Quadrotor Using Multi-Resolution Search
Yunfan Ren, Siqi Liang, Fangcheng Zhu, Guozheng Lu, Fu Zhang
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Proprioceptive Sensor-Based Simultaneous Multi-Contact Point Localization and Force Identification for Robotic Arms
SeoWook Han, Min Jun Kim
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A Coarse-To-Fine Framework for Dual-Arm Manipulation of Deformable Linear Objects with Whole-Body Obstacle Avoidance
Mingrui Yu, Kangchen Lv, Changhao Wang, Masayoshi Tomizuka, Xiang LI
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Robotic Table Wiping Via Reinforcement Learning and Whole-Body Trajectory Optimization
Thomas Lew, Sumeet Singh, Mario Prats, Jeffrey Bingham, Jonathan Weisz, Benjie Holson, Xiaohan Zhang, Vikas Sindhwani, Yao Lu, Fei Xia, Peng Xu, Tingnan Zhang, Jie Tan, Montserrat Gonzalez Arenas
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Adaptive Approximation of Dynamics Gradients Via Interpolation to Speed up Trajectory Optimisation
David Mackenzie Charles Russell, Rafael Papallas, Mehmet R Dogar
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A Linear and Exact Algorithm for Whole-Body Collision Evaluation Via Scale Optimization
Qianhao Wang, Zhepei Wang, Liuao Pei, Chao Xu, Fei Gao
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RAMP: Reaction-Aware Motion Planning of Multi-Legged Robots for Locomotion in Microgravity
Warley Francisco Rocha Ribeiro, Kentaro Uno, Masazumi Imai, Koki Murase, Kazuya Yoshida
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Bipedal Robot Walking Control Using Human Whole-Body Dynamic Telelocomotion
Guillermo Colin, Youngwoo Sim, Joao Ramos
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Hierarchical Whole-Body Control of the Cable-Suspended Aerial Manipulator Endowed with Winch-Based Actuation
Yuri Sarkisov, Andre Coelho, Maihara Gabrieli Santos, Min Jun Kim, Dzmitry Tsetserukou, Christian Ott, Konstantin Kondak
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Decoupling Skill Learning from Robotic Control for Generalizable Object Manipulation
Kai Lu, Bo Yang, Bing Wang, Andrew Markham
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Trajectory Optimization for 3D Shape-Changing Robots with Differential Mobile Base
Mengke Zhang, Chao Xu, Fei Gao, Yanjun Cao
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A Control Approach for Human-Robot Ergonomic Payload Lifting
Lorenzo Rapetti, Carlotta Sartore, Mohamed Elobaid, Yeshasvi Tirupachuri, Francesco Draicchio, Tomohiro Kawakami, Takahide Yoshiike, Daniele Pucci
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RobotSweater: Scalable, Generalizable, and Customizable Machine-Knitted Tactile Skins for Robots
Zilin Si, Tianhong Yu, Katrene Morozov, James McCann, Wenzhen Yuan
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Interactive Multi-Modal Motion Planning with Branch Model Predictive Control
Yuxiao Chen, Ugo Rosolia, Wyatt Ubellacker, Noel Csomay-Shanklin, Aaron Ames
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Multi-Agent Path Integral Control for Interaction-Aware Motion Planning in Urban Canals
Lucas Michael Streichenberg, Elia Trevisan, Jen Jen Chung, Roland Siegwart, Javier Alonso-Mora
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Learning Agile Flight Maneuvers: Deep SE(3) Motion Planning and Control for Quadrotors
Yixiao Wang, Bingheng Wang, Shenning Zhang, Han Wei Sia, Lin Zhao
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Density Planner: Minimizing Collision Risk in Motion Planning with Dynamic Obstacles Using Density-Based Reachability
Laura Lützow, Yue Meng, Andres Chavez Armijos, Chuchu Fan
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Interaction-Aware Trajectory Planning for Autonomous Vehicles with Analytic Integration of Neural Networks into Model Predictive Control
Piyush Gupta, David Isele, Donggun Lee, Sangjae Bae
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Manipulation Planning Using Wave Variables
Pitakwatchara, Phongsaen,Arunrat, Jetnipit
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NeRF2Real: Sim2real Transfer of Vision-Guided Bipedal Motion Skills Using Neural Radiance Fields
Arunkumar Byravan, Jan Humplik, Leonard Hasenclever, Arthur Brussee, Francesco Nori, Tuomas Haarnoja, Ben Moran, Steven Bohez, Fereshteh Sadeghi, Bojan Vujatovic, Nicolas Heess
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A Reachability-Based Spatio-Temporal Sampling Strategy for Kinodynamic Motion Planning
Yongxing Tang, Zhanxia Zhu, Hongwen Zhang
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Hierarchical Policy Blending As Inference for Reactive Robot Control
Kay Hansel, Julen Urain De Jesus, Jan Peters, Georgia Chalvatzaki
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CPG-Based Motion Planning of Hybrid Underwater Hexapod Robot for Wall Climbing and Transition
Ma, Feiyu,Yan, Weisheng,chen, lepeng,Cui, Rongxin
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Statistical Safety and Robustness Guarantees for Feedback Motion Planning of Unknown Underactuated Stochastic Systems
Craig Knuth, Glen Chou, Jamie Reese, Joseph Moore
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Interaction Control of a Robotic Manipulator with the Surface of Deformable Object
Athanasios Dometios, Costas S. Tzafestas
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AMSwarm: An Alternating Minimization Approach for Safe Motion Planning of Quadrotor Swarms in Cluttered Environments
Vivek Kantilal Adajania, Siqi Zhou, Arun Kumar Singh, Angela P. Schoellig
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Cautious Planning with Incremental Symbolic Perception: Designing Verified Reactive Driving Maneuvers
Disha Kamale, Sofie Haesaert, Cristian Ioan Vasile
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Versatile Real-Time Motion Synthesis Via Kino-Dynamic MPC with Hybrid-Systems DDP
He Li, Tingnan Zhang, Wenhao Yu, Patrick M. Wensing
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Visual-Inertial Odometry with Online Calibration of Velocity-Control Based Kinematic Motion Models
Haolong Li, Joerg Stueckler
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Learning Agent-Aware Affordances for Closed-Loop Interaction with Articulated Objects
Giulio Schiavi, Paula Wulkop, Giuseppe Maria Rizzi, Lionel Ott, Roland Siegwart, Jen Jen Chung
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Planning with SiMBA: Motion Planning under Uncertainty for Temporal Goals Using Simplified Belief Guides
Qi Heng Ho, Zachary Sunberg, Morteza Lahijanian
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Sample-Driven Connectivity Learning for Motion Planning
Sihui Li, Neil Dantam
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Optimal Grasps and Placements for Task and Motion Planning in Clutter
Carlos Quintero-Peña, Zachary Kingston, Tianyang Pan, Rahul Shome, Anastasios Kyrillidis, Lydia Kavraki
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Stochastic Robustness Interval for Motion Planning with Signal Temporal Logic
Roland Ilyes, Qi Heng Ho, Morteza Lahijanian
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Distributing Collaborative Multi-Robot Planning with Gaussian Belief Propagation
Aalok Patwardhan, Riku Murai, Andrew J Davison
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A Reachability Tree-Based Algorithm for Robot Task and Motion Planning
Kanghyun Kim, Daehyung Park, Min Jun Kim
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Boundary Conditions in Geodesic Motion Planning for Manipulators
Mario Laux, Andreas Zell
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Parameter Optimization for Manipulator Motion Planning Using a Novel Benchmark Set
Carl Gaebert, Sascha Kaden, Benjamin Fischer, Ulrike Thomas
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A Hierarchical Decoupling Approach for Fast Temporal Logic Motion Planning
Ziyang Chen, Zhangli Zhou, Shaochen Wang, Zhen Kan
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Motion Planning for a Climbing Robot with Stochastic Grasps
Stephanie Newdick, Nitin Ongole, Tony G. Chen, Edward Schmerling, Mark Cutkosky, Marco Pavone
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Learning to Predict Action Feasibility for Task and Motion Planning in 3D Environments
Smail Ait Bouhsain, Rachid Alami, Thierry Simeon
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Chance-Constrained Motion Planning with Event-Triggered Estimation
Anne Theurkauf, Qi Heng Ho, Roland Ilyes, Nisar Ahmed, Morteza Lahijanian
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Optimal Multi-Robot Coverage Path Planning for Agricultural Fields Using Motion Dynamics
Jahid Chowdhury Choton, Pavithra Prabhakar
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Leveraging Scene Embeddings for Gradient-Based Motion Planning in Latent Space
Jun Yamada, Chia-Man Hung, Jack Collins, Ioannis Havoutis, Ingmar Posner
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Robust Locomotion on Legged Robots through Planning on Motion Primitive Graphs
Wyatt Ubellacker, Aaron Ames
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Efficient Anytime CLF Reactive Planning System for a Bipedal Robot on Undulating Terrain
Jiunn-Kai Huang, J.W Grizzle
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Shunted Collision Avoidance for Multi-UAV Motion Planning with Posture Constraints
Gang Xu, Deye Zhu, Junjie Cao, Yong Liu, Jian Yang
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