Humanoid Robotics Laboratory Technical Reports
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Recent Submissions
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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) -
Kinematics and Inverse Kinematics for the Humanoid Robot HUBO2+
(Georgia Institute of Technology, 2013)This paper derives the forward and inverse kinematics of a humanoid robot. The specific humanoid that the derivation is for is a robot with 27 degrees of freedom but the procedure can be easily applied to other similar ... -
Diverse Workspace Path Planning for Robot Manipulators
(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 ... -
Algorithms for Linguistic Robot Policy Inference from Demonstration of Assembly Tasks
(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 ... -
Detecting Partially Occluded Objects via Segmentation and Validation
(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 ... -
Time-Optimal Path Following with Bounded Joint Accelerations and Velocities
(Georgia Institute of Technology, 2011)This paper presents a method to generate the time-optimal trajectroy that exactly follows a given differentiable joint-space path within given bounds on joint accelerations and velocities. We also present a path ... -
Turning Paths Into Trajectories Using Parabolic Blends
(Georgia Institute of Technology, 2011)We present an approach for converting a path of multiple continuous linear segments into a trajectory that satisfies velocity and acceleration constraints and closely follows the given path without coming to a complete ... -
Design and Development of a Dynamically-Balancing Holonomic Robot
(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 ... -
Efficient Opening Detection
(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 ... -
Ach: IPC for Real-Time Robot Control
(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. ... -
Equations of Motion for Dynamically Stable Mobile Manipulators
(Georgia Institute of Technology, 2010-12-14) -
The Motion Grammar: Linguistic Perception, Planning, and Control
(Georgia Institute of Technology, 2010)We present the Motion Grammar: a novel unified representation for task decomposition, perception, planning, and hybrid control that provides a computationally tractable way to control robots in uncertain environments ...
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