我们开了一门运动规划课，课程名叫 Motion Planning for Mobile Robots。 一千个人眼中有一千个哈姆雷特。 几乎每一位正在或即将开始学习运动规划的同学都会或多或少遇到下面的窘境： 知识分布零散、不成体系，只能…

Modern Robotics提供了配套机器人学函数代码库，完全基于书本中的理论知识实现，并且支持多种语言，便于学习者直接使用以验证书中的示例和完成课后作业。

MotionPlanning 问题是一个组合优化问题，这两年 Russ 实验室提出的 GCS 框架可以把组合优化问题近似为凸优化问题求解。 解决了 MotionPlanning 一块难啃的骨头，接下来就是另一个难啃的骨头了： 3D Map 感知和构建。 如何构建一张 3D Map 即可以适应复杂的环境，又可以满足规划算法对计算效率的要求？ 第二个难啃的骨头估计得靠 NVIDIA GPU 了。 GCS (Graph of convex set) 是什么？ GCS是 MIT Drake 实验室近两年推出的 MotionPlanning 方法，旨在融合基于优化和 …

Abstract: Motion planning is critical to realize the autonomous operation of mobile robots. As the complexity and randomness of robot application scenarios increase, the planning capability of the classical hierarchical motion planners is challenged.

Mobile robots contributed significantly to the intelligent development of human society, and the motion-planning policy is critical for mobile robots. This paper reviews the methods based on motion-planning policy, especially the ones involving Deep Reinforcement Learning (DRL) in the unstructured environment.

Our previous projects have included dynamics and control for humanoid robots, dynamic walking over rough terrain, flight control for aggressive maneuvers in unmanned aerial vehicles, feedback control for fluid dynamics and soft robotics, and connections between perception and control.

inMotion Robotic offers state-of-the-art mobile inspection robots that revolutionize the way companies & governments monitor their critical infrastructure and manufacturing & construction processes. Our cutting-edge technology combines advanced sensors, intelligent software, and robust hardware to deliver unparalleled inspection capabilities.

This paper enables real-world humanoid robots to maintain stability while performing expressive motions like humans do. We propose Exbody2, a generalized whole-body tracking framework that can take any reference motion inputs and control the humanoid to mimic the motion.

A robot mechanism is a multi-body system with the multiple bodies connected together. We begin by treating each body as rigid, ignoring elasticity and any deformations caused by large load conditions. Each rigid body involved in a robot mechanism is called a link, and a combination of links is referred to as a linkage.

Today, robots can move with ever-increasing complexity, grace, and precision, but only because robot movement relies on complex mechanics and programming. In this article, we'll explore the fundamentals of robot motion. You'll learn about the different types of robotic movement and what makes them tick. We’ll cover: Let’s get started.