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 ...

We present a novel planning algorithm for the problem of placing objects on a cluttered surface such as a table, counter or floor. The planner (1) selects a placement for the target object and (2) constructs a sequence ...

The goal of this project is to investigate the implementation of a planning algorithm for the problem of placing objects on a cluttered surface with a PR-2 mobile manipulator. The original push planning algorithm [1] ...

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 ...

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 ...

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 ...

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 ...