Now showing items 41-49 of 49

    • 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 ...
    • 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 ...
    • 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. ...
    • 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 ...
    • 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. ...
    • 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 ...
    • 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 ...
    • 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 ...