Single-level differentiable contact simulation
S Le Cleac'h, M Schwager… - IEEE Robotics and …, 2023 - ieeexplore.ieee.org
We present a differentiable formulation of rigid-body contact dynamics for objects and robots
represented as compositions of convex primitives. Classical physics engines rely on non …
represented as compositions of convex primitives. Classical physics engines rely on non …
Continuous implicit sdf based any-shape robot trajectory optimization
T Zhang, J Wang, C Xu, A Gao… - 2023 IEEE/RSJ …, 2023 - ieeexplore.ieee.org
Optimization-based trajectory generation methods are widely used in whole-body planning
for robots. However, existing work either oversimplifies the robot's geometry and …
for robots. However, existing work either oversimplifies the robot's geometry and …
Novel Probabilistic Collision Detection for Manipulator Motion Planning Using HNSW
X Zhang, B Tao, D Jiang, B Chen, D Tang, X Liu - Machines, 2024 - mdpi.com
Collision detection is very important for robot motion planning. The existing accurate
collision detection algorithms regard the evaluation of each node as a discrete event …
collision detection algorithms regard the evaluation of each node as a discrete event …
A Standard Rigid Transformation Notation Convention for Robotics Research
P Nadeau - arXiv preprint arXiv:2405.07351, 2024 - arxiv.org
Notation conventions for rigid transformations are as diverse as they are fundamental to the
field of robotics. A well-defined convention that is practical, consistent and unambiguous is …
field of robotics. A well-defined convention that is practical, consistent and unambiguous is …
GPU-Accelerated Optimization-Based Collision Avoidance
Z Wu, Z Wang, H Zhang - arXiv preprint arXiv:2406.07048, 2024 - arxiv.org
This paper proposes a GPU-accelerated optimization framework for collision avoidance
problems where the controlled objects and the obstacles can be modeled as the finite union …
problems where the controlled objects and the obstacles can be modeled as the finite union …
OCEAN: An Openspace Collision-free Trajectory Planner for Autonomous Parking Based on ADMM
D Wang, Y Lu, W Liu, H Zuo, J Xin, X Long… - arXiv preprint arXiv …, 2024 - arxiv.org
In this paper, we propose an Openspace Collision-freE trAjectory plaNner (OCEAN) for
autonomous parking. OCEAN is an optimization-based trajectory planner accelerated by …
autonomous parking. OCEAN is an optimization-based trajectory planner accelerated by …
Hybrid Dynamics Modeling and Trajectory Planning for a Cable-Trailer System with a Quadruped Robot
Inspired by the utilization of dogs in sled-pulling for transportation, we introduce a cable-
trailer system with a quadruped robot. The motion planning of the proposed robot system …
trailer system with a quadruped robot. The motion planning of the proposed robot system …
Whole-body Dynamic Collision Avoidance with Time-varying Control Barrier Functions
Recently, there has been increasing attention in robot research towards the whole-body
collision avoidance. In this paper, we propose a safety-critical controller that utilizes time …
collision avoidance. In this paper, we propose a safety-critical controller that utilizes time …
[图书][B] Composable Optimization for Robotics Simulation and Control
SPM Le Cleach - 2023 - search.proquest.com
COMPOSABLE OPTIMIZATION FOR ROBOTICS SIMULATION AND CONTROL A DISSERTATION
SUBMITTED TO THE DEPARTMENT OF MECHANICAL ENGINEERING Page 1 COMPOSABLE …
SUBMITTED TO THE DEPARTMENT OF MECHANICAL ENGINEERING Page 1 COMPOSABLE …