2024 |
Bekris, K; Doerr, J; Meng, P; Tangirala, S The State of Robot Motion Generation Inproceedings International Symposium of Robotics Research (ISRR), Long Beach, California, 2024. Abstract | Links | BibTeX | Tags: Dynamics, Learning, Planning @inproceedings{Bekris:2024aa, title = {The State of Robot Motion Generation}, author = {K Bekris and J Doerr and P Meng and S Tangirala}, url = {https://arxiv.org/abs/2410.12172 https://pracsys.cs.rutgers.edu/papers/the-state-of-robot-motion-generation/}, year = {2024}, date = {2024-12-01}, booktitle = {International Symposium of Robotics Research (ISRR)}, address = {Long Beach, California}, abstract = {This paper first reviews the large spectrum of methods for generating robot motion proposed over the 50 years of robotics research culminating to recent developments. It crosses the boundaries of methodologies, which are typically not surveyed together, from those that operate over explicit models to those that learn implicit ones. The paper concludes with a discussion of the current state-of-the-art and the properties of the varying methodologies highlighting opportunities for integration.}, keywords = {Dynamics, Learning, Planning}, pubstate = {published}, tppubtype = {inproceedings} } This paper first reviews the large spectrum of methods for generating robot motion proposed over the 50 years of robotics research culminating to recent developments. It crosses the boundaries of methodologies, which are typically not surveyed together, from those that operate over explicit models to those that learn implicit ones. The paper concludes with a discussion of the current state-of-the-art and the properties of the varying methodologies highlighting opportunities for integration. |
2021 |
Meng, P; Wang, W; Balkcom, D; Bekris, K ASCE Earth and Space Conference 2021, Seattle, WA, 2021. Abstract | Links | BibTeX | Tags: Soft-Robots @conference{Meng:2021aa, title = {Proof-Of-Concept Designs for the Assembly of Modular, Dynamic Tensegrities into Easily Deployable Structures}, author = {P Meng and W Wang and D Balkcom and K Bekris}, url = {https://par.nsf.gov/servlets/purl/10294210}, year = {2021}, date = {2021-10-01}, booktitle = {ASCE Earth and Space Conference 2021}, address = {Seattle, WA}, abstract = {Dynamic tensegrity robots are inspired by tensegrity structures in architecture; arrangements of rigid rods and flexible elements allow the robots to deform. This work proposes the use of multiple, modular, tensegrity robots that can move and compliantly connect to assemble larger, compliant, lightweight, strong structures and scaffolding. The focus is on proof-of-concept designs for the modular robots themselves and their docking mechanisms, which can allow the easy deployment of structures in unstructured environments. These mechanisms include (electro)magnets to allow each individual robot to connect and disconnect on cue. An exciting direction is the design of specific module and structure designs to fit the mission at hand. For example, this work highlights how the considered three bar structures could stack to form a column or deform on one side to create an arch. A critical component of future work will involve the development of algorithms for automatic design and layout of modules in structures.}, keywords = {Soft-Robots}, pubstate = {published}, tppubtype = {conference} } Dynamic tensegrity robots are inspired by tensegrity structures in architecture; arrangements of rigid rods and flexible elements allow the robots to deform. This work proposes the use of multiple, modular, tensegrity robots that can move and compliantly connect to assemble larger, compliant, lightweight, strong structures and scaffolding. The focus is on proof-of-concept designs for the modular robots themselves and their docking mechanisms, which can allow the easy deployment of structures in unstructured environments. These mechanisms include (electro)magnets to allow each individual robot to connect and disconnect on cue. An exciting direction is the design of specific module and structure designs to fit the mission at hand. For example, this work highlights how the considered three bar structures could stack to form a column or deform on one side to create an arch. A critical component of future work will involve the development of algorithms for automatic design and layout of modules in structures. |
2024 |
The State of Robot Motion Generation Inproceedings International Symposium of Robotics Research (ISRR), Long Beach, California, 2024. |
2021 |
ASCE Earth and Space Conference 2021, Seattle, WA, 2021. |