Now showing items 4-23 of 49

    • 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 ...
    • 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, ...
    • 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 ...
    • Dynamic Programming in Reduced Dimensional Spaces: Dynamic Planning for Robust Biped Locomotion 

      Stilman, Mike; Atkeson, Christopher G.; Kuffner, James J.; Zeglin, Garth (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2005-04)
      We explore the use of computational optimal control techniques for automated construction of policies in complex dynamic environments. Our implementation of dynamic programming is performed in a reduced dimensional subspace ...
    • Dynamic Pushing Strategies for Dynamically Stable Mobile Manipulators 

      Kolhe, Pushkar; Dantam, Neil; Stilman, Mike (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2010-05)
      This paper presents three effective manipulation strategies for wheeled, dynamically balancing robots with articulated links. By comparing these strategies through analysis, simulation and robot experiments, we show ...
    • 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 ...
    • Global Manipulation Planning in Robot Joint Space With Task Constraints 

      Stilman, Mike (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2010-06)
      We explore global randomized joint space path planning for articulated robots that are subject to task space constraints. This paper describes a representation of constrained motion for joint space planners and develops ...
    • Golem Krang: Dynamically Stable Humanoid Robot for Mobile Manipulation 

      Stilman, Mike; Olson, Jon; Gloss, William (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2010-05)
      What would humans be like if nature had invented the wheel? Golem Krang is a novel humanoid torso designed at Georgia Tech. The robot dynamically transforms from a .5 m static to a 1.5 m dynamic configuration. Our robot ...
    • 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 ...
    • Homotopic Path Planning on Manifolds for Cabled Mobile Robots 

      Igarashi, Takeo; Stilman, Mike (Georgia Institute of Technology, 2010)
      We present two path planning algorithms for mobile robots that are connected by cable to a fixed base. Our algorithms efficiently compute the shortest path and control strategy that lead the robot to the target location ...
    • Humanoid HRP2-DHRC for Autonomous and Interactive Behavior 

      Kagami, Satoshi; Nishiwaki, K.; Kuffner, James; Thompson, S.; Chestnutt, J.; Stilman, Mike; Michel, P. (Georgia Institute of TechnologySpringer Berlin / Heidelberg, 2007)
      Recently, research on humanoid-type robots has become increasingly active, and a broad array of fundamental issues are under investigation. However, in order to achieve a humanoid robot which can operate in human environments, ...
    • 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 ...
    • Humanoid Teleoperation for Whole Body Manipulation 

      Stilman, Mike; Nishiwaki, Koichi; Kagami, Satoshi (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2008-05)
      We present results of successful telemanipulation of large, heavy objects by a humanoid robot. Using a single joystick the operator controls walking and whole body manipulation along arbitrary paths for up to ten minutes ...
    • 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 ...