Kyung-Soo Kim

Accelerating Human-Aware Robot Trajectory Generation via Diffusion and Consistency Distillation

This research proposes a constrained motion planning framework for robot manipulators in human-robot interaction (HRI). For a non-redundant manipulator with a fully specified end-effector pose, additional requirements such as collision avoidance and self-collision avoidance are difficult to handle as simple null-space...