Planning robot trajectory is a complex task that plays a significant role in design and application of robots in task space. The problem is formulated as a trajectory optimization problem which is fundamentally a constrained nonlinear optimization problem. Open-loop optimal control method is proposed as an approach for trajectory optimization of cable parallel manipulator for a given two-end-po...

This work makes two contributions to geometric motion planning for multiple robots: i) Motion plans are computed that simultaneously optimize an independent performance measure for each robot; ii) A general spectrum is deened between decoupled and centralized planning, in which we introduce coordination along independent roadmaps. By considering independent performance measures, we introduce a ...

The control system of a robot operating in a human-centered environments should address the problem of motion planning to generate collision-free motions for grasping and manipulation tasks. To deal with the complexity of these tasks in such environments, different motion planning algorithms can be used. We present a motion planning framework for manipulation and grasping tasks consisting of di...

The paper presents the design and motion planning for a mechanical snake robot that was built at the University of Michigan. The structure of the robot enables it to move without wheels. It is constructed of a series of articulated links, each one with a motor and linear solenoid. Although each link has only one motor, this structure allows the body configuration to be easily controlled thereby...

This paper presents an efficient strategy for integrating lowlevel reactive behavior control and high-level global planning for robot motion. In low-level behavior control, robot navigation in unknown environments is performed by behavior fusion using fizzy logic; while a high-level planning method is used to determine robot motion direction since some information on environments is prior knowl...

This paper proposes a gait planning approach to reduce the required friction for a biped robot walking on various surfaces. To this end, a humanoid robot with 18 DOF is considered to develop a dynamics model for studying various 3D manoeuvres. Then, feasible trajectories are developed to alleviate the fluctuations on the upper body to resemble human-like walking. In order to generate feasible w...

Oppgavens tittel (norsk): Bevegelsesplanlegging og regulering av robotmanipulatorer Oppgavens tittel (engelsk): Motion planning and control of robot manipulators Bakgrunn: Robot motion planning systems can be used to plan collision-free paths between start and end robot manipulator configurations. Many motion planners assume that the robot manipulator works in a static environment. However, man...

We present a simple and natural extension of the multi-robot motion planning problem where the robots are partitioned into groups (colors), such that in each group the robots are interchangeable. Every robot is no longer required to move to a specific target, but rather to some target placement that is assigned to its group. We call this problem k-color multi-robot motion planning and provide a...