Coupled Routing and Configuration Optimization for Multi-Viewpoint Robotic Inspection - 2026-06-17 - Research Publication - The authors present a unified framework that turns a set of 6-DoF inspection viewpoints into a time-optimal, collision-free route for a 9-DoF robotic system. Simulations and real-robot experiments on a KUKA LBR iiwa with a… - source: arxiv.org
PhyRoGen: Synthetic Generation of Physical Robot Manipulation Puzzles Using Procedural Content Generation - 2026-06-04 - Research Publication - Robot manipulation of physical puzzles is important for automatic assembly and disassembly tasks. Finally, the authors demonstrate that every generated puzzle is manipulatable by using a KUKA LBR iiwa robot in a physical… - source: arxiv.org
Safe Obstacle-Free Guidance of Space Manipulators in Debris Removal Missions via Deep Reinforcement Learning - 2025-10-08 - Research Publication - The objective of this study is to develop a model-free workspace trajectory planner for space manipulators using a Twin Delayed Deep Deterministic Policy Gradient (TD3) agent to enable safe and reliable debris capture. The… - source: arxiv.org
Diffusion-Based Impedance Learning for Contact-Rich Manipulation Tasks - 2025-09-24 - Research Publication - The authors present Diffusion-Based Impedance Learning, a framework that bridges these paradigms by combining generative modeling with energy-consistent impedance control. Deployed in realtime torque control on a KUKA LBR… - source: arxiv.org
Visio-Verbal Teleimpedance Interface: Enabling Semi-Autonomous Control of Physical Interaction via Eye Tracking and Speech - 2025-08-27 - Research Publication - The paper presents a visio-verbal teleimpedance interface for commanding 3D stiffness ellipsoids to the remote robot with a combination of the operator's gaze and verbal interaction. To validate the proposed visio-verbal… - source: arxiv.org
Riemannian Time Warping: Multiple Sequence Alignment in Curved Spaces - 2025-06-02 - Research Publication - Given its importance for numerous applications in robotics and beyond, the authors introduce Riemannian Time Warping (RTW). Extensive experiments on synthetic and real-world data, including tests with an LBR iiwa robot… - source: arxiv.org
Adaptive Collision Sensitivity for Efficient and Safe Human-Robot Collaboration - 2024-09-30 - Research Publication - Here the authors present a framework that decides whether the robot should interrupt or continue its motion based on estimated collision force computed individually for different parts of the robot body and dynamically on… - source: arxiv.org
Model Predictive Trajectory Optimization With Dynamically Changing Waypoints for Serial Manipulators - 2024-02-07 - Research Publication - This paper presents a novel waypoint model predictive control (wMPC) concept for online replanning tasks. Moreover, the ability of wMPC to dynamically replan tasks online is experimentally demonstrated on a KUKA LBR iiwa… - source: arxiv.org
BoundMPC: Cartesian path following with error bounds based on model predictive control in the joint space - 2024-01-10 - Research Publication - This work introduces the BoundMPC strategy, an innovative online model-predictive path-following approach for robot manipulators. The flexibility and performance of BoundMPC are experimentally demonstrated by five… - source: arxiv.org
Bayes Net based highbrid Monte Carlo Optimization for Redundant Manipulator - 2023-12-14 - Research Publication - This paper proposes a Bayes Net based Monte Carlo optimization for motion planning (BN-MCO). Finally, the authors tune the key parameters and benchmark BN-MCO against the other 5 planners on LBR-iiwa in a bookshelf. The… - source: arxiv.org
Task-Parameterized Imitation Learning with Time-Sensitive Constraints - 2023-12-06 - Research Publication - To address this problem, the authors propose a novel constrained formulation of the Expectation Maximization algorithm for learning Gaussian Mixture Models (GMM) on Riemannian Manifolds. The probabilistic approach is… - source: arxiv.org
LBR-Stack: ROS 2 and Python Integration of KUKA FRI for Med and IIWA Robots - 2023-11-21 - Research Publication - LBR-Stack packages simplify and extend KUKA's Fast Robot Interface for ROS 2 and Python applications with hard real-time requirements. Supported are the KUKA LBR Med 7/14 and KUKA LBR IIWA 7/14 robots in the Gazebo… - source: arxiv.org
Fast Kinodynamic Planning on the Constraint Manifold with Deep Neural Networks - 2023-01-11 - Research Publication - This paper introduces a novel learning-to-plan framework that exploits the concept of constraint manifold, including dynamics, and neural planning methods. The authors validate the approach on two simulated tasks and in a… - source: arxiv.org
A C++ Implementation of a Cartesian Impedance Controller for Robotic Manipulators - 2022-12-21 - Research Publication - The study proposes a C++ implementation of compliance control valid for any torque-commanded robotic manipulator. The implementation was tested with the KUKA LBR iiwa robot and the Franka Emika Robot (Panda) both in… - source: arxiv.org
Machine Learning-based Framework for Optimally Solving the Analytical Inverse Kinematics for Redundant Manipulators - 2022-11-08 - Research Publication - The study a real-time framework to compute the analytical inverse kinematics of a redundant robot is presented. Monte Carlo simulations show the effectiveness of the proposed approach which is accurate and real-time… - source: arxiv.org
Singularity Avoidance with Application to Online Trajectory Optimization for Serial Manipulators - 2022-11-04 - Research Publication - This work proposes a novel singularity avoidance approach for real-time trajectory optimization based on known singular configurations. The focus of this work lies on analyzing kinematically singular configurations for… - source: arxiv.org
A Combined Inverse Kinematics Algorithm Using FABRIK with Optimization - 2022-09-06 - Research Publication - The study a novel inverse kinematics algorithm that combines FABRIK and the sequential quadratic programming (SQP) algorithm is presented, in which the joint angles deduced by FABRIK will be taken as the initial seed of… - source: arxiv.org
Robot-Assisted Drilling on Curved Surfaces with Haptic Guidance under Adaptive Admittance Control - 2022-07-28 - Research Publication - The study an adaptive admittance controller with 6 degrees of freedom is developed and deployed on a KUKA LBR iiwa 7 cobot such that the operator is able to manipulate a drill mounted on the robot with one hand comfortably… - source: arxiv.org
Effect of Active and Passive Protective Soft Skins on Collision Forces in Human-robot Collaboration - 2022-03-18 - Research Publication - In addition, the authors isolate the effects of the passive padding and the active contribution of the sensor to robot reaction. The study studies the after impact behavior of two collaborative manipulators (UR10e and KUKA… - source: arxiv.org
Adaptive Gaussian Process based Stochastic Trajectory Optimization for Motion Planning - 2021-12-30 - Research Publication - The authors propose a new formulation of optimal motion planning (OMP) algorithm for robots operating in a hazardous environment, called adaptive Gaussian-process based stochastic trajectory optimization (AGP-STO).… - source: arxiv.org
alishbaimran/Multi-Modal-Manipulation - 2021-09-16 - Research Publication - To collect the multimodal dataset for encoder pre-train run python environments/kuka peg env.py .You will be able to get more data by changing the random seed. To pre-train the fusion encoder run python multimodal/train my… - source: github.com
A Suitable Hierarchical Framework with Arbitrary Task Dimensions under Unilateral Constraints for physical Human Robot Interaction - 2021-09-10 - Research Publication - In the last years, several hierarchical frameworks have been proposed to deal with highly-redundant robotic systems. The experiments on the redundant collaborative industrial robot (KUKA LBR iiwa) demonstrate the advantage… - source: arxiv.org
Incrementally Stochastic and Accelerated Gradient Information mixed Optimization for Manipulator Motion Planning - 2021-08-21 - Research Publication - The paper introduces iSAGO, which combines stochastic optimization, accelerated gradients and Bayes-tree incremental inference for manipulator planning. Researchers ran twelve physical AUBO i5 experiments at a storage… - source: arxiv.org
Spatial Attention Point Network for Deep-learning-based Robust Autonomous Robot Motion Generation - 2021-03-02 - Research Publication - The study proposes a method robust to changes in object position by automatically extracting spatial attention points in the image for the robot task and generating motions on the basis of their positions. The authors… - source: arxiv.org