Now showing items 1-20 of 40

    • 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 ...
    • Combining Motion Planning and Optimization for Flexible Robot Manipulation 

      Scholz, Jonathan; Stilman, Mike (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2010-12)
      Robots that operate in natural human environments must be capable of handling uncertain dynamics and underspecified goals. Current solutions for robot motion planning are split between graph-search methods, such as ...
    • 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 ...
    • 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 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 ...
    • 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 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 ...
    • 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: 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 ...