How Do Robot Manipulators Move?

This article describes all the components needed to build a motion planning stack for a robot manipulator. You will learn the basics of inverse kinematics, motion planning, and trajectory generation, as well as model representations and common software packages you should know about.

2022 in Review: The Year of ROS 2

Welcome to my 2022 recap. This year was quite busy — a little too busy, actually — and as such went by extremely quickly. I had the privilege of being featured in two video series this past year. First was the Learn Robotics and AI podcast episode hosted by Chandandeep Singh, which was recorded atContinue reading “2022 in Review: The Year of ROS 2”

Integrated Task and Motion Planning in Robotics

Learn the fundamentals of integrated task and motion planning (TAMP), and explore examples using PDDLStream, which combines symbolic task planning and sampling-based motion planning.

2021 in Review, Part 1: Research Projects at MIT CSAIL

Sebastian discusses 3 of his major collaborative projects at MIT CSAIL, which focus on learning and planning under uncertainty.

2020 in Review: Home Service Robotics at MIT CSAIL

Learn about Sebastian’s major project of 2020 at MIT CSAIL. This consists of a task and motion planning framework for a mobile manipulation platform for home service robotics.