“What can your humanoid robot do?” is probably the most commonly asked question that we, as roboticists, have to answer when interacting with the general public. Often, the question is framed in the familiar household or office setting, with implied expectations of robust locomotion on uneven and cluttered terrain and compliant interaction with people, objects, and the … [Read more...] about Motion Planning for Humanoid Locomotion: Applications to Homelike Environments
Planning
The Open Stack of Tasks Library: OpenSoT: A Software Dedicated to Hierarchical Whole-Body Control of Robots Subject to Constraints
The Open Stack of Tasks (OpenSoT) library is a state-of-the-art framework for instantaneous whole-body motion planning and control based on quadratic programming optimization. The library is designed to enable users to easily write and solve a variety of complex instantaneous whole-body control problems with minimal input, facilitating the addition of new tasks, constraints, … [Read more...] about The Open Stack of Tasks Library: OpenSoT: A Software Dedicated to Hierarchical Whole-Body Control of Robots Subject to Constraints
The Cluttered Environment Picking Benchmark (CEPB) for Advanced Warehouse Automation: Evaluating the Perception, Planning, Control, and Grasping of Manipulation Systems
Autonomous and reliable robotic grasping is a desirable functionality in robotic manipulation and is still an open problem. Standardized benchmarks are important tools for evaluating and comparing robotic grasping and manipulation systems among different research groups, and also for sharing with the community the best practices to learn from errors. An ideal benchmarking … [Read more...] about The Cluttered Environment Picking Benchmark (CEPB) for Advanced Warehouse Automation: Evaluating the Perception, Planning, Control, and Grasping of Manipulation Systems
GRASPA-fying the Panda: Easily Deployable, Fully Reproducible Benchmarking of Grasp Planning Algorithms
Although robotic grasp planning has been extensively studied in the literature, comparing the performance of different approaches still proves challenging due to the lack of standardization in hardware setup and benchmarking protocols. This work addresses the issue with a threefold contribution. First, it provides a standardized hardware platform and a software framework … [Read more...] about GRASPA-fying the Panda: Easily Deployable, Fully Reproducible Benchmarking of Grasp Planning Algorithms
Enhancing Dexterity in Confined Spaces: Real-Time Motion Planning for Multifingered In-Hand Manipulation
Dexterous in-hand manipulation in robotics, particularly with multi-fingered robotic hands, poses significant challenges due to the intricate avoidance of collisions among fingers and the object being manipulated. Collision-free paths for all fingers must be generated in real-time, as the rapid changes in hand and finger positions necessitate instantaneous recalculations to … [Read more...] about Enhancing Dexterity in Confined Spaces: Real-Time Motion Planning for Multifingered In-Hand Manipulation
