Now showing items 12-15 of 15

    • The Motion Grammar: Linguistic Perception, Planning, and Control 

      Dantam, Neil; Stilman, Mike (Georgia Institute of Technology, 2010)
      We present the Motion Grammar: a novel unified representation for task decomposition, perception, planning, and hybrid control that provides a computationally tractable way to control robots in uncertain environments ...
    • Time-Optimal Path Following with Bounded Joint Accelerations and Velocities 

      Kunz, Tobias; Stilman, Mike (Georgia Institute of Technology, 2011)
      This paper presents a method to generate the time-optimal trajectroy that exactly follows a given differentiable joint-space path within given bounds on joint accelerations and velocities. We also present a path ...
    • Towards Stable Balancing 

      Zafar, Munzir; Erdogan, Can; Stilman, Mike (Georgia Institute of Technology, 2014)
    • Turning Paths Into Trajectories Using Parabolic Blends 

      Kunz, Tobias; Stilman, Mike (Georgia Institute of Technology, 2011)
      We present an approach for converting a path of multiple continuous linear segments into a trajectory that satisfies velocity and acceleration constraints and closely follows the given path without coming to a complete ...