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Opening and navigating through doors remains a challenging problem, particularly in cluttered environments and for spring-loaded doors. Passing through doors, especially spring-loaded doors, requires making and breaking contacts with the door and preventing the door from closing while passing through. In this work, we present a planning framework that(More)
Reconfiguring chain-type modular robots has been considered a difficult problem scaling poorly with increasing numbers of modules. We address the re-configuration problem for robots in 2D by presenting centralized and decentralized algorithms based on the Carpenter's Rule Theorem [5]. The theorem guarantees the existence of instantaneous collision-free(More)
This paper presents a toolchain for the design and simulation of reconfigurable robots that can be built from a single rigid sheet of smart material with embedded actuators and sensors along regular crease patterns. We call such sheets Foldable Programmable Matter (FPM). The toolchain we have created comprises an editor for drafting or modifying FPM,(More)
Motion primitive-based (lattice-based) graphs have been used extensively in navigation, but application to high-dimensional state-spaces has remained limited by computational complexity. In this work, we show how these graphs can be applied to mobile manipulation. The formation of closed chains in tasks that involve contacts with the environment may reduce(More)
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