Robots with many degrees of freedom (eg, humanoid robots and mobile manipulators) have
increasingly been employed to accomplish realistic tasks in domains such as disaster relief …

This article presents a dual fast marching tree algorithm that consists of constrained fast
marching tree planning in a Cartesian space (C_FMT∗) and human-like fast marching tree …

In order for a bimanual robot to manipulate an object that is held by both hands, it must
construct motion plans such that the transformation between its end effectors remains fixed …

In this paper, we present a task space-based local motion planner that incorporates collision
avoidance and constraints on end-effector motion during the execution of a task. Our key …

Multi-agent path planning (MAPP) is the problem of planning collision-free trajectories from
start to goal locations for a team of agents. This work explores a relatively unexplored setting …

Manipulation of objects by exploiting their contact with the environment can enhance both
the dexterity and payload capability of robotic manipulators. A common way to manipulate …

Robotic tasks like inserting a peg into a hole or grasping an object with an end-effector
require positioning of the end-effector to the desired pre-insertion or pregrasp poses …

Many robotics tasks involve a set of constraints that limit the valid configurations the system
can assume. Some of these constraints, such as loop-closure or orientation constraints to …

Abstract As described in Chaps. 2–5, neuroscientific studies showed that the control of the
human hand is mainly realized in a synergistic way. Recently, taking inspiration from this …

In this study, we implemented a constrained motion planner that enables robot manipulators
to flip large and heavy objects without slippage while continuously holding them. Based on …