Humanoid Robotics Laboratory
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Autonomous Environment Manipulation to Assist Humanoid Locomotion
(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 ... -
Towards Stable Balancing
(Georgia Institute of Technology, 2014) -
Krang: Center of Mass Estimation
(Georgia Institute of Technology, 2014) -
Krang Kinematics: A Denavit-Hartenberg Parameterization
(Georgia Institute of Technology, 2014) -
Probabilistic Human Action Prediction and Wait-sensitive Planning for Responsive Human-robot Collaboration
(Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2013-10)A novel representation for the human component of multi-step, human-robot collaborative activity is presented. The goal of the system is to predict in a probabilistic manner when the human will perform different subtasks ... -
Foresight and Reconsideration in Hierarchical Planning and Execution
(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 ... -
Multi-Process Control Software for HUBO2 Plus Robot
(Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2013-04)Humanoid robots require greater software reliability than traditional mechantronic systems if they are to perform useful tasks in typical human-oriented environments. This paper covers a software architecture which ... -
Humanoid Robot Teleoperation for Tasks with Power Tools
(Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2013-04)This paper presents the implementation of inverse kinematics to achieve teleoperation of a physical humanoid robot platform. The humanoid platform will be used to compete in the DARPA Robot Challenge, which requires ... -
Manipulation Planning with Soft Task Constraints
(Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2012-10)We present a randomized configuration space planner that enforces soft workspace task constraints. A soft task constraint allows an interval of feasible values while favoring a given exact value. Previous work only allows ... -
Deterministic Motion Planning for Redundant Robots along End-Effector Paths
(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, ... -
Detecting Partially Occluded Objects via Segmentation and Validation
(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 ... -
The Motion Grammar: Analysis of a Linguistic Method for Robot Control
(Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2013-06)We present the Motion Grammar: an approach to represent and verify robot control policies based on Context-Free Grammars. The production rules of the grammar represent a top-down task decomposition of robot behavior. ... -
Planning with Movable Obstacles in Continuous Environments with Uncertain Dynamics
(Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2013-05)In this paper we present a decision theoretic planner for the problem of Navigation Among Movable Obstacles (NAMO) operating under conditions faced by real robotic systems. While planners for the NAMO domain exist, they ... -
Path Planning with Uncertainty: Voronoi Uncertainty Fields
(Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2013-05)In this paper, a two-level path planning algorithm that deals with map uncertainty is proposed. The higher level planner uses modified generalized Voronoi diagrams to guarantee finding a connected path from the start ... -
Planning in Constraint Space: Automated Design of Functional Structures
(Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2013-05)On the path to full autonomy, robotic agents have to learn how to manipulate their environments for their benefit. In particular, the ability to design structures that are functional in overcoming challenges is imperative. ... -
Correct Software Synthesis for Stable Speed-Controlled Robotic Walking
(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 ... -
Humanoid HRP2-DHRC for Autonomous and Interactive Behavior
(Georgia Institute of TechnologySpringer Berlin / Heidelberg, 2007)Recently, research on humanoid-type robots has become increasingly active, and a broad array of fundamental issues are under investigation. However, in order to achieve a humanoid robot which can operate in human environments, ... -
Multi-Robot Multi-Object Rearrangement in Assignment Space
(Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2012-10)We present Assignment Space Planning, a new efficient robot multi-agent coordination algorithm for the PSPACE- hard problem of multi-robot multi-object push rearrangement. In both simulated and real robot experiments, ... -
Linguistic Composition of Semantic Maps and Hybrid Controllers
(Georgia Institute of Technology, 2012-06)This work combines semantic maps with hybrid control models, generating a direct link between action and environment models to produce a control policy for mobile manipulation in unstructured environments. First, we ...
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