We propose a novel approach to multi-robot collaboration that harnesses the power of pre-
trained large language models (LLMs) for both high-level communication and low-level path …

We present a real-time motion-synthesis method for robot manipulators, called RelaxedIK,
that is able to not only accurately match end-effector pose goals as done by traditional IK …

Coordination is essential in the design of dynamic control strategies for multi-arm robotic
systems. Given the complexity of the task and dexterity of the system, coordination …

Motion planning algorithms have seen considerable progress and expansion across various
domains of science and technology during the last few decades, where rapid advancements …

A robotic feeding system must be able to acquire a variety of foods. Prior bite acquisition
works consider single-arm spoon scooping or fork skewering, which do not generalize to …

Methods by which robots can learn control laws that enable real-time reactivity using
dynamical systems; with applications and exercises. This book presents a wealth of machine …

State-dependent dynamical systems (DSs) offer adaptivity, reactivity, and robustness to
perturbations in motion planning and physical human–robot interaction tasks. Learning DS …

In this paper, a path planning algorithm for a multi-arm space robot is proposed. The robot is
capable of maneuvering on the exterior of a large space station. Based on the maneuver …

Many daily life tasks require precise control when making contact with surfaces. Ensuring a
smooth transition from free motion to contact is crucial as incurring a large impact force may …

We present a model predictive control (MPC) algorithm for online time-optimal trajectory
planning of cooperative robotic manipulators. Robotic arms sharing a common confined …