Now showing items 1-20 of 49

    • 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 ...
    • 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 ...
    • 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, ...
    • Planning and Executing Navigation Among Movable Obstacles 

      Stilman, Mike; Nishiwaki, Koichi; Kagami, Satoshi; Kuffner, James J. (Georgia Institute of TechnologyBrill Academic Publishers, 2007)
      This paper explores autonomous locomotion, reaching, grasping and manipulation for the domain of Navigation Among Movable Obstacles (NAMO). The robot perceives and constructs a model of an environment filled with various ...
    • 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 ...
    • 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 ...
    • 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. ...
    • Path Planning Among Movable Obstacles: A Probabilistically Complete Approach 

      van den Berg, Jur; Stilman, Mike; Kuffner, James; Lin, Ming; Manocha, Dinesh (Georgia Institute of Technology, 2008)
      In this paper we study the problem of path planning among movable obstacles, in which a robot is allowed to move the obstacles if they block the robot's way from a start to a goal position. We make the observation that ...
    • 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 ...
    • Planning Among Movable Obstacles with Artificial Constraints 

      Stilman, Mike; Kuffner, James J. (Georgia Institute of TechnologySage Publications, 2008-11)
      This paper presents artificial constraints as a method for guiding heuristic search in the computationally challenging domain of motion planning among movable obstacles. The robot is permitted to manipulate unspecified ...
    • 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 ...
    • Optimized Control Strategies for Wheeled Humanoids and Mobile Manipulators 

      Stilman, Mike; Wang, Jiuguang; Teeyapan, Kasemsit; Marceau, Ray (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2009-12)
      Optimizing the control of articulated mobile robots leads to emergent behaviors that improve the effectiveness, efficiency and stability of wheeled humanoids and dynamically stable mobile manipulators. Our simulated ...
    • 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 ...
    • 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 ...
    • 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 ...
    • 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 ...
    • 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 ...
    • 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 ...
    • 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 ...
    • 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 ...