Whole-Body Motion Control in Real Time

Last updated on Nov 5, 2023
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We present a real-time control and planning framework to handle dexterous manipulation tasks that is demonstrated on SMORES-EP and CKBot modular robotic systems.

Chao Liu
Chao Liu
Postdoctoral Associate

My research interests include manipulation and tactile sensing, swarm and modular robotics, soft robotics, parallel robotics, control and motion planning.

Publications

A Quadratic Programming Approach to Manipulation in Real-Time Using Modular Robots
Motion planning in high-dimensional space is a challenging task. In order to perform dexterous manipulation in an unstructured …
Chao Liu, Mark Yim
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A Quadratic Programming Approach to Manipulation in Real-Time Using Modular Robots
A Quadratic Programming Approach to Modular Robot Control and Motion Planning
Modular robotic systems consist of multiple modules that can be transformed into different configurations with respect to different …
Chao Liu, Mark Yim
PDF Cite Project Video DOI Website
A Quadratic Programming Approach to Modular Robot Control and Motion Planning