Recent Submissions

  • 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 ...
  • Probabilistic Human Action Prediction and Wait-sensitive Planning for Responsive Human-robot Collaboration 

    Hawkins, Kelsey P.; Vo, Nam; Bansal, Shray; Bobic, Aaron F. (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 

    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 ...
  • Multi-Process Control Software for HUBO2 Plus Robot 

    Grey, M .X.; Dantam, Neil; Lofaro, Daniel M.; Bobick, Aaron F.; Egerstedt, Magnus B.; Oh, Paul; Stilman, Mike (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 

    O’Flaherty, Rowland; Vieira, Peter; Grey, M. X.; Oh, Paul; Bobick, Aaron; Egerstedt, Magnus B.; Stilman, Mike (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 

    Kunz, Tobias; Stilman, Mike (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 

    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, ...
  • 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 ...
  • The Motion Grammar: Analysis of a Linguistic Method for Robot Control 

    Dantam, Neil; Stilman, Mike (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 

    Levihn, Martin; Scholz, Jonathan; Stilman, Mike (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 

    Ok, Kyel; Ansari, Sameer; Gallagher, Billy; Sica, William; Dellaert, Frank; Stilman, Mike (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 

    Erdogan, Can; Stilman, Mike (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 

    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 ...
  • Humanoid HRP2-DHRC for Autonomous and Interactive Behavior 

    Kagami, Satoshi; Nishiwaki, K.; Kuffner, James; Thompson, S.; Chestnutt, J.; Stilman, Mike; Michel, P. (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 

    Levihn, Martin; Igarashi, Takeo; Stilman, Mike (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 

    Dantam, Neil; Nieto-Granda, Carlos; Christensen, Henrik I.; Stilman, Mike (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 ...
  • Linguistic Transfer of Human Assembly Tasks to Robots 

    Dantam, Neil; Essa, Irfan; Stilman, Mike (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2012-10)
    We demonstrate the automatic transfer of an assembly task from human to robot. This work extends efforts showing the utility of linguistic models in verifiable robot control policies by now performing real visual analysis ...
  • Robust and Efficient Communication for Real-Time Multi-Process Robot Software 

    Dantam, Neil; Stilman, Mike (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2012-11)
    We present a new Interprocess Communication (IPC) mechanism and library. Ach is uniquely suited for coordinating drivers, controllers, and algorithms in complex robotic systems such as humanoid robots. Ach eliminates ...
  • 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 ...
  • Time-Optimal Trajectory Generation for Path Following with Bounded Acceleration and Velocity 

    Kunz, Tobias; Stilman, Mike (Georgia Institute of Technology, 2012-07)
    This paper presents a novel method to generate the time-optimal trajectory that exactly follows a given differentiable joint-space path within given bounds on joint accelerations and velocities. We also present a path ...

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