We describe an algorithm for motion planning based on expert demonstrations of a skill. In order to teach robots to perform complex object manipulation tasks that can generalize robustly to new environments, we must (1) learn a representation of the effects of a task and (2) find an optimal trajectory that will reproduce these effects in a new environment. We represent robot skills in terms of ...

Human speech production is often described as an optimisation process, which tends to maximise the effectiveness of the communication process minimising the effort involved in the production. The aim of this paper is to investigate this highly complex problem with two dimensionally reduced spaces corresponding to different computational models. Since the highdimensional parameter space which us...

We provide a unified probabilistic framework for trajectory estimation and planning. The key idea is to view these two problems, usually considered separately, as a single problem. At each time-step the robot is tasked with finding the complete continuous-time trajectory from start to goal. This can be quite difficult; the robot must contend with a potentially high-degreeof-freedom (DOF) trajec...

High-speed assembly makes strict demands on path and trajectory planning systems. In such systems the stages of path planning, trajectory planning, andìow-level' control are normally separated, which admits functional simplicity but may not produce the most useful trajectories. Thus we have been exploring the possibility of merging the levels, by allowing the path planner to generate the trajec...

Motion planning in multi-contact scenarios has recently gathered interest within the legged robotics community, however actuator force/torque limits are rarely considered. We believe that these limits gain paramount importance when the complexity of the terrains to be traversed increases. For this reason we propose two new six-dimensional bounded polytopes named the Actuation Wrench Polytope (A...

In the paper we present a solution to the optimal trajectory planning problem subject to constraints given by joint torques and velocities, and the task. The main result is a trajectory planning algorithm which enables the calculation of the optimal motion due to the given requirements and taking into account the dynamics of the manipulator. First, the dynamic model of the manipulator in the pa...

Motion planning of walking machines normally contains two aspects: gait planning and body trajectory planning. When generating an optimal body trajectory on natural terrain, the leg movement must be taken into account. Due to the large searching space resulting from the combination of leg movement and terrain conditions, it is quite time consuming to produce an optimal result of body trajectory...

we design a two-stage scheme to consider trajectory planning problem of two mobile manipulators for cooperative transportation of a rigid body in presence of static obstacles. within the first stage, regarding the static obstacles we develop a method that searches the workspace for the shortest possible path between start and goal configurations by constructing a graph on a portion of the confi...

In order to better study the trajectory of robot motion, a motion trajectory planning and simulation based on 6-DOF manipulator arm robot is designed. Three and five polynomial methods are adopted to plan motion trajectories. The advantages and disadvantages of the three and five polynomial trajectory planning are summarized. The trajectory planning in the right angle space can make the robot a...

Trajectory planning is an essential part of systems controlling autonomous entities such as vehicles or robots. It requires not only finding spatial curves but also that dynamic properties of the vehicles (such as speed limits for certain maneuvers) must be followed. In this paper, we present an approach for augmenting existing path planning methods to support basic dynamic constraints, concret...