A set of constraints for motion planning whilst maintaining contact between a robot and a passive object is considered. It is demonstrated that a set of kinematic limits for the trajectory can be determined based upon the available force range and system response to perturbations. The proposed constraints are discretised and reformulated for a 2-D nonholonomic robot before being utilised by a m...

This paper studies optimal motion planning subject to and environment uncertainties. By modeling the system as a probabilistic labeled Markov decision process (PL-MDP), control objective is synthesize finite-memory policy, under which agent satisfies complex high-level tasks expressed linear temporal logic (LTL) with desired satisfaction probability. In particular, cost optimization of trajecto...

The autonomous execution of manipulation tasks in unstructured, dynamic environments requires the consideration of various motion constraints. Any motion performed during the manipulation task has to satisfy constraints imposed by the task itself, but also has to consider kinematic and dynamic limitations of the manipulator, avoid unpredictably moving obstacles, and observe constraints imposed ...

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...

Human-Robot interaction brings new challenges to motion planning. The human, who is generally considered as an obstacle for the robot, needs to be considered as a separate entity that has a position, a posture, a field of view and an activity. These properties can be represented as new constraints to the motion generation mechanisms. In this paper we present three human related constraints to t...

The autonomous execution of mobile manipulation tasks in unstructured, dynamic environments requires the consideration of various motion constraints. The task itself imposes constraints, of course, but so do the kinematic and dynamic limitations of the manipulator, unpredictably moving obstacles, and the global connectivity of the workspace. All of these constraints need to be updated continuou...