Now showing items 40-49 of 49

    • Real-Time Path Planning for a Robot Arm in Changing Environments 

      Kunz, Tobias; Reiser, Ulrich; Stilman, Mike; Verl, Alexander (Georgia Institute of Technology, 2010-10)
      We present a practical strategy for real-time path planning for articulated robot arms in changing environments by integrating PRM for Changing Environments with 3D sensor data. Our implementation on Care-O-Bot 3 ...
    • Robot Jenga: Autonomous and Strategic Block Extraction 

      Wang, Jiuguang; Rogers, Philip; Parker, Lonnie T.; Brooks, Douglas Antwonne; Stilman, Mike (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2009)
      This paper describes our successful implementation of a robot that autonomously and strategically removes multiple blocks from an unstable Jenga tower. We present an integrated strategy for perception, planning and control ...
    • Robot Limbo: Optimized Planning and Control for Dynamically Stable Robots Under Vertical Obstacles 

      Teeyapan, Kasemsit; Wang, Jiuguang; Kunz, Tobias; Stilman, Mike (Georgia Institute of Technology, 2010-05)
      We present successful control strategies for dynamically stable robots that avoid low ceilings and other vertical obstacles in a manner similar to limbo dances. Given the parameters of the mission, including the goal and ...
    • 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 ...
    • 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 ...
    • 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 ...
    • Stable Stacking for the Distributor’s Pallet Packing Problem 

      Schuster, Martin; Bormann, Richard; Steidl, Daniela; Reynolds-Haertle, Saul; Stilman, Mike (Georgia Institute of Technology, 2010-10)
      We present a novel algorithm that solves the distributor's pallet packing problem. In contrast to existing algorithms, our method optimizes stack stability in addition to stack volume. Furthermore, our algorithm explicitly ...
    • Task Constrained Motion Planning in Robot Joint Space 

      Stilman, Mike (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2007-10)
      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 ...
    • 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 ...
    • 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 ...