Now showing items 1-20 of 69

    • Ach: IPC for Real-Time Robot Control 

      Dantam, Neil; Stilman, Mike (Georgia Institute of Technology, 2011)
      We present a new Inter-Process Communication (IPC) mechanism and library. Ach is uniquely suited for coordinating perception, control drivers, and algorithms in real-time systems that sample data from physical processes. ...
    • Algorithms for Linguistic Robot Policy Inference from Demonstration of Assembly Tasks 

      Dantam, Neil; Essa, Irfan; Stilman, Mike (Georgia Institute of Technology, 2012)
      We describe several algorithms used for the inference of linguistic robot policies from human demonstration. First, tracking and match objects using the Hungarian Algorithm. Then, we convert Regular Expressions to ...
    • Autonomous Environment Manipulation to Assist Humanoid Locomotion 

      Levihn, Martin; Nishiwaki, Koichi; Kagami, Satoshi; Stilman, Mike (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2014)
      Legged robots have unique capabilities to traverse complex environments by stepping over and onto objects. Many footstep planners have been developed to take advantage of these capabilities. However, legged robots also ...
    • Combining Motion Planning and Optimization for Flexible Robot Manipulation 

      Scholz, Jonathan; Stilman, Mike (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2010-12)
      Robots that operate in natural human environments must be capable of handling uncertain dynamics and underspecified goals. Current solutions for robot motion planning are split between graph-search methods, such as ...
    • Correct Software Synthesis for Stable Speed-Controlled Robotic Walking 

      Dantam, Neil; Hereid, Ayonga; Ames, Aaron; Stilman, Mike (Georgia Institute of Technology, 2013-06)
      We present a software synthesis method for speed- controlled robot walking based on supervisory control of a context-free Motion Grammar. First, we use Human-Inspired control to identify parameters for fixed speed walking ...
    • Design and Development of a Dynamically-Balancing Holonomic Robot 

      Reynolds-Haertle, Saul; Stilman, Mike (Georgia Institute of Technology, 2011)
      This paper describes the design, control, and construction of Golem Wing, the first vehicle which both balances dynamically and has entirely holonomic ground movement. A nonstandard linear arrangement of mecanum wheels ...
    • Detecting Partially Occluded Objects via Segmentation and Validation 

      Levihn, Martin; Dutton, Matthew; Trevor, Alexander J. B.; Stilman, Mike (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2013-01)
      This paper presents a novel algorithm: Verfied Partial Object Detector (VPOD) for accurate detection of partially occluded objects such as furniture in 3D point clouds. VPOD is implemented and validated on real sensor ...
    • Detecting Partially Occluded Objects via Segmentation and Validation 

      Levihn, Martin; Dutton, Matthew; Trevor, Alexander J. B.; Stilman, Mike (Georgia Institute of Technology, 2012)
      This paper presents a novel algorithm: Verfied Partial Object Detector (VPOD) for accurate detection of partially occluded objects such as furniture in 3D point clouds. VPOD is implemented and validated on real sensor ...
    • Deterministic Motion Planning for Redundant Robots along End-Effector Paths 

      Quispe, Ana Huamán; Stilman, Mike (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2012-11)
      In this paper we propose a deterministic approach to solve the Motion Planning along End-Effector Paths problem (MPEP) for redundant manipulators. Most of the existing approaches are based on local optimization techniques, ...
    • Diverse Workspace Path Planning for Robot Manipulators 

      Quispe, Ana Huamán; Stilman, Mike (Georgia Institute of Technology, 2012-07)
      We present a novel algorithm that generates a set of diverse workspace paths for manipulators. By considering more than one possible path we give our manipulator the flexibility to choose from many possible ways to execute ...
    • Dynamic Chess: Strategic Planning for Robot Motion 

      Kunz, Tobias; Kingston, Peter; Stilman, Mike; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2011-05)
      We introduce and experimentally validate a novel algorithmic model for physical human-robot interaction with hybrid dynamics. Our computational solutions are complementary to passive and compliant hardware. We focus on ...
    • Dynamic Programming in Reduced Dimensional Spaces: Dynamic Planning for Robust Biped Locomotion 

      Stilman, Mike; Atkeson, Christopher G.; Kuffner, James J.; Zeglin, Garth (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2005-04)
      We explore the use of computational optimal control techniques for automated construction of policies in complex dynamic environments. Our implementation of dynamic programming is performed in a reduced dimensional subspace ...
    • Dynamic Pushing Strategies for Dynamically Stable Mobile Manipulators 

      Kolhe, Pushkar; Dantam, Neil; Stilman, Mike (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2010-05)
      This paper presents three effective manipulation strategies for wheeled, dynamically balancing robots with articulated links. By comparing these strategies through analysis, simulation and robot experiments, we show ...
    • Efficient Opening Detection 

      Levihn, Martin; Stilman, Mike (Georgia Institute of Technology, 2011)
      We present an efficient and powerful algorithm for detecting openings. Openings indicate the existence of a new path for the robot. The reliable detection of new openings is especially relevant to the domain of Navigation ...
    • Equations of Motion for Dynamically Stable Mobile Manipulators 

      Dantam, Neil; Kolhe, Pushkar; Stilman, Mike (Georgia Institute of Technology, 2010-12-14)
    • Foresight and Reconsideration in Hierarchical Planning and Execution 

      Levihn, Martin; Kaelbling, Leslie Pack; Lozano-Pérez, Tomás; Stilman, Mike (Georgia Institute of Technology, 2013-11)
      We present a hierarchical planning and execution architecture that maintains the computational efficiency of hierar- chical decomposition while improving optimality. It provides mech- anisms for monitoring the belief ...
    • Global Manipulation Planning in Robot Joint Space With Task Constraints 

      Stilman, Mike (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2010-06)
      We explore global randomized joint space path planning for articulated robots that are subject to task space constraints. This paper describes a representation of constrained motion for joint space planners and develops ...
    • Golem Krang: Dynamically Stable Humanoid Robot for Mobile Manipulation 

      Stilman, Mike; Olson, Jon; Gloss, William (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2010-05)
      What would humans be like if nature had invented the wheel? Golem Krang is a novel humanoid torso designed at Georgia Tech. The robot dynamically transforms from a .5 m static to a 1.5 m dynamic configuration. Our robot ...
    • Gravity and Drift in Force/Torque Measurements 

      Erdogan, Can; Zafar, Munzir; Stilman, Mike (2014)
    • Hierarchical Decision Theoretic Planning for Navigation Among Movable Obstacles 

      Levihn, Martin; Scholz, Jonathan; Stilman, Mike (Georgia Institute of Technology, 2012-06)
      In this paper we present the first decision theoretic planner for the problem of Navigation Among Movable Obstacles (NAMO). While efficient planners for NAMO exist, they are challenging to implement in practice due to ...