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.

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.