Single-query Path Planning Using Sample-efficient Probability Informed Trees.

In this work, we present a novel sampling-based path planning method, called . The method finds solutions for high dimensional path planning problems quickly and robustly. Its efficiency comes from minimizing the number of collision check samples.

Shared control-based bimanual robot manipulation.

Human-centered environments provide affordances for and require the use of two-handed, or bimanual, manipulations. Robots designed to function in, and physically interact with, these environments have not been able to meet these requirements because standard bimanual control approaches have not accommodated the diverse, dynamic, and intricate coordinations between two arms to complete bimanual tasks. In this work, we enabled robots to more effectively perform bimanual tasks by introducing a bimanual shared-control method.