Now showing items 17-36 of 49

    • Learning Object Models for Humanoid Manipulation 

      Stilman, Mike; Nishiwaki, Koichi; Kagami, Satoshi (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2007-11)
      We present a successful implementation of rigid grasp manipulation for large objects moved along specified trajectories by a humanoid robot. HRP-2 manipulates tables on casters with a range of loads up to its own mass. ...
    • 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 ...
    • Make Your Robot Talk Correctly: Deriving Models of Hybrid System 

      Dantam, Neil; Stilman, Mike; Egerstedt, Magnus B. (Georgia Institute of Technology, 2011-07)
      Using both formal language and differential equations to model a robotic system, we introduce a calculus of transformation rules for the symbolic derivation of hybrid controllers. With a Context-Free Motion Grammar, we ...
    • Manipulation Planning Among Movable Obstacles. 

      Stilman, Mike; Schamburek, Jan-Ullrich; Kuffner, James; Asfour, Tamin (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2007-04)
      This paper presents the ResolveSpatialConstraints (RSC) algorithm for manipulation planning in a domain with movable obstacles. Empirically we show that our algorithm quickly generates plans for simulated articulated ...
    • 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 ...
    • The Motion Grammar Calculus for Context-Free Hybrid Systems 

      Dantam, Neil; Stilman, Mike (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2012-06)
      This paper provides a method for deriving provably correct controllers for Hybrid Dynamical Systems with Context-Free discrete dynamics, nonlinear continuous dynamics, and nonlinear state partitioning. The proposed ...
    • 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. ...
    • The Motion Grammar: Linguistic Perception, Planning, and Control 

      Dantam, Neil; Stilman, Mike (Georgia Institute of TechnologyMIT, 2011-06)
      We present and analyze the Motion Grammar: a novel unified representation for task decomposition, perception, planning, and control that provides both fast online control of robots in uncertain environments and the ...
    • 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 ...
    • 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, ...
    • Navigation Among Movable Obstacles in Unknown Environments 

      Wu, Hai-Ning; Levihn, Martin; Stilman, Mike (Georgia Institute of Technology, 2010-10)
      This paper explores the Navigation Among Movable Obstacles (NAMO) problem in an unknown environment. We consider the realistic scenario in which the robot has to navigate to a goal position in an unknown environment consisting ...
    • Navigation Among Movable Obstacles: Real-Time Reasoning in Complex Environments 

      Stilman, Mike; Kuffner, James J. (Georgia Institute of Technology, 2005-12)
      In this paper, we address the problem of Navigation Among Movable Obstacles (NAMO): a practical extension to navigation for humanoids and other dexterous mobile robots. The robot is permitted to reconfigure the environment ...
    • Optimized Control Strategies for Wheeled Humanoids and Mobile Manipulators 

      Stilman, Mike; Wang, Jiuguang; Teeyapan, Kasemsit; Marceau, Ray (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2009-12)
      Optimizing the control of articulated mobile robots leads to emergent behaviors that improve the effectiveness, efficiency and stability of wheeled humanoids and dynamically stable mobile manipulators. Our simulated ...
    • Path Planning Among Movable Obstacles: A Probabilistically Complete Approach 

      van den Berg, Jur; Stilman, Mike; Kuffner, James; Lin, Ming; Manocha, Dinesh (Georgia Institute of Technology, 2008)
      In this paper we study the problem of path planning among movable obstacles, in which a robot is allowed to move the obstacles if they block the robot's way from a start to a goal position. We make the observation that ...
    • 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 Among Movable Obstacles with Artificial Constraints 

      Stilman, Mike; Kuffner, James J. (Georgia Institute of TechnologySage Publications, 2008-11)
      This paper presents artificial constraints as a method for guiding heuristic search in the computationally challenging domain of motion planning among movable obstacles. The robot is permitted to manipulate unspecified ...
    • Planning and Executing Navigation Among Movable Obstacles 

      Stilman, Mike; Nishiwaki, Koichi; Kagami, Satoshi; Kuffner, James J. (Georgia Institute of TechnologyBrill Academic Publishers, 2007)
      This paper explores autonomous locomotion, reaching, grasping and manipulation for the domain of Navigation Among Movable Obstacles (NAMO). The robot perceives and constructs a model of an environment filled with various ...
    • 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. ...
    • 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 ...