Visibility Maximization Controller for Robotic Manipulation

Article Robotics

A Holistic Approach to Reactive Mobile Manipulation

Jesse Haviland et al.

Summary: The paper introduces a taskable reactive mobile manipulation system that treats arm and base degrees of freedom as a holistic structure, improving motion speed and fluidity. A robust and reactive motion controller is used to achieve desired end-effector pose while maintaining maneuverability, supporting sensor-based behaviors. No planning is involved, showcasing the versatility of the motion controller in a pick and place system implemented on a 9-degree-of-freedom mobile manipulator.

IEEE ROBOTICS AND AUTOMATION LETTERS (2022)

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Article Robotics

NEO: A Novel Expeditious Optimisation Algorithm for Reactive Motion Control of Manipulators

Jesse Haviland et al.

Summary: NEO is a fast and purely reactive motion controller for manipulators that can avoid obstacles and maximize manipulability. It is best suited as a reactive local controller in more complex scenes, along with a global motion planner.

IEEE ROBOTICS AND AUTOMATION LETTERS (2021)

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Proceedings Paper Automation & Control Systems

Constrained Image-Based Visual Servoing using Barrier Functions

Iman Salehi et al.

Summary: This paper introduces a novel constrained image-based visual servoing approach to ensure that target features remain within the camera's field of view. By using a barrier function to transform feature dynamics and designing an IBVS controller, the system is able to regulate the original system. Stability analysis shows the local asymptotic convergence of state error in terms of Lyapunov, with simulation and robot implementation results demonstrating the efficiency of the method.

2021 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA 2021) (2021)

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Proceedings Paper Automation & Control Systems

Not your grandmother's toolbox - the Robotics Toolbox reinvented for Python

Peter Corke et al.

Summary: The Robotics Toolbox for Python is the successor of the MATLAB Robotics Toolbox, utilizing open-source resources to provide powerful functionality and platform portability. With features including spatial mathematics, trajectories, kinematics, dynamics, and robot models, the new Toolbox also introduces new capabilities such as branched mechanisms and collision checking.

2021 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA 2021) (2021)

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Proceedings Paper Computer Science, Interdisciplinary Applications