Abstract: Due to high degree of freedoms (DOFs), motion planning of the cable-driven snake robot is challenging and usually tackled by the iterative Jacobian-based method. This iterative method adopts ...

Abstract: We present an optimization framework for grasp and motion planning in the context of robotic assembly. Typically, grasping locations are provided by higher level planners or as input ...

Imagine standing on top of a mountain. From this vantage point, we can see picturesque valleys and majestic ridges below, and streams wind their way downhill. If a drop of rain falls somewhere on this ...