Object Manipulation Planning and Replanning for Robots with Humans

Fast Manipulation Path Planning for Humanoid Robots

|We present an interactive manipulation path planner under development for providing high-level task-based control for humanoid robots. Using a graphical simulation environment, the software is designed to facilitate the automation of object grasping and manipulation tasks. A randomized path planner is used to directly search the free con guration space of the robot for a collision-free manipul...

Planning and Control of Two-Link Rigid Flexible Manipulators in Dynamic Object Manipulation Missions

This research focuses on proposing an optimal trajectory planning and control method of two link rigid-flexible manipulators (TLRFM) for Dynamic Object Manipulation (DOM) missions. For the first time, achievement of DOM task using a rotating one flexible link robot was taken into account in [20]. The authors do not aim to contribute on either trajectory tracking or vibration control of the End-...

Object Manipulation Planning for Dextrous Robot Systems

Object Transfer Between Humans and Robots

The goal of our project is to transfer objects between a user’s hand and a robotic arm. The robot will recognize when a user is attempting to pass it an object and then will try to grab the object out of the user’s hand. The project consists of three parts: recognizing the user’s handing gesture, locating the object, and grasping the object. To recognize the user’s handing gesture we take skele...

A Reasoning Economy for Planning and Replanning

Major military operations and other large-scale activities naturally involve competitions for resources that must be managed effectively to ensure overall success. Since plan revisions may change the resource demands of the activity, the relevant competitions for resources involve computational resources (time, database control, etc.) as well as the more obvious non-computational resources (fue...