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Video Gallery

Task and Motion Planning

  • Grasping in the Clutter using a Physics-based Motion Planner
YuMi robot graspping a wine cup (simulation).
YuMi robot graspping a wine cup (real).
  • Integrated Task and Motion Planning Using Physics-based Heuristics
Mobile robot with push, pull and move actions finding its path through fixed obstacles (purple) and moveable objects (blue).
Manipulator with capacity to push objects with the gripper clearing its way toward the goal of grasping the yellow block.
  • Physics-based Motion Planners with Knowledge-based Reasoning
Physics-based motion planner for a mobile robot. The range of control forces are selected by a reasoning process according to the type of object to be pushed.
Physics-based motion planner for a manipulator. The way of interacting with moveable obstacle (yellow block) is fixed by a reasoning process according to the goal.

Teleoperation

  • Teleoperation of the Barcelona Mobile Manipulator platform (BMM)
Operator commanding the end-effector of the BMM with a single haptic device. First, only the manipulator is moving, while after the platform and the manipulator are coordinated to achieve the commanded pose.