Now showing items 10-29 of 49

    • 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 ...
    • 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. ...
    • 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 ...
    • 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 ...
    • 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, ...
    • Navigation Among Movable Obstacles in Unknown Environments 

      Wu, Hai-Ning; Levihn, Martin; Stilman, Mike (Georgia Institute of Technology, 2010-10)
      This paper explores the Navigation Among Movable Obstacles (NAMO) problem in an unknown environment. We consider the realistic scenario in which the robot has to navigate to a goal position in an unknown environment consisting ...
    • Navigation Among Movable Obstacles: Real-Time Reasoning in Complex Environments 

      Stilman, Mike; Kuffner, James J. (Georgia Institute of Technology, 2005-12)
      In this paper, we address the problem of Navigation Among Movable Obstacles (NAMO): a practical extension to navigation for humanoids and other dexterous mobile robots. The robot is permitted to reconfigure the environment ...