In this paper, we present a real-time whole-body planner for collision-free legged mobile
manipulation. We enforce both self-collision and environment-collision avoidance as soft …

In this letter, we propose a real-time self-collision avoidance approach for whole-body
humanoid robot control. To achieve this, we learn the feasible regions of control in the …

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 …

Motion planning for robot manipulation systems operating in complex environments remains
a challenging problem. It requires the evaluation of both the collision distance and its …

Motion planning for high-DOF multi-arm systems operating in complex environments
remains a challenging problem, with many motion planning algorithms requiring evaluation …

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 …

One of the most important aspects of autonomous systems is safety. This includes ensuring
safe human-robot and safe robot-environment interaction when autonomously performing …

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Collision avoidance implies that extra motion in joint space must be taken, which might exert
unexpected influences on the execution of the desired end-effector tasks. In this paper, a …