Now showing items 21-40 of 49

    • Combining Motion Planning and Optimization for Flexible Robot Manipulation 

      Scholz, Jonathan; Stilman, Mike (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2010-12)
      Robots that operate in natural human environments must be capable of handling uncertain dynamics and underspecified goals. Current solutions for robot motion planning are split between graph-search methods, such as ...
    • Dynamic Chess: Strategic Planning for Robot Motion 

      Kunz, Tobias; Kingston, Peter; Stilman, Mike; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2011-05)
      We introduce and experimentally validate a novel algorithmic model for physical human-robot interaction with hybrid dynamics. Our computational solutions are complementary to passive and compliant hardware. We focus on ...
    • 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 ...
    • 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 ...
    • Push Planning for Object Placement on Cluttered Table Surfaces 

      Cosgun, Akansel; Hermans, Tucker; Emeli, Victor; Stilman, Mike (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2011-09)
      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 ...
    • Sampling Heuristics for Optimal Motion Planning in High Dimensions 

      Akgun, Baris; Stilman, Mike (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2011-09)
      We present a sampling-based motion planner that improves the performance of the probabilistically optimal RRT* planning algorithm. Experiments demonstrate that our planner finds a fast initial path and decreases the ...
    • Push Planning for Object Placement in Clutter Using the PR-2 

      Emeli, Victor; Kemp, Charles C.; Stilman, Mike (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2011-09)
      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] ...
    • Robot Path Planning Using Field Programmable Analog Arrays 

      Koziol, Scott; Hasler, Paul; Stilman, Mike (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2012-05)
      We present the successful application of reconfigurable Analog-Very-Large-Scale-Integrated (AVLSI) circuits to motion planning for the AmigoBot robot. Previous research has shown that custom application-specific-integ ...
    • 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 ...
    • 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 ...
    • 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 ...
    • Whole-Body Trajectory Optimization for Humanoid Falling 

      Wang, Jiuguang; Whitman, Eric C.; Stilman, Mike (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2012-06)
      We present an optimization-based control strategy for generating whole-body trajectories for humanoid robots in order to minimize damage due to falling. In this work, the falling problem is formulated using optimal ...
    • 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 ...
    • 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 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 ...
    • 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 ...
    • 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 ...
    • 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 ...
    • 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 ...