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Krang: Center of Mass Estimation
(Georgia Institute of Technology, 2014)
Algorithms for Linguistic Robot Policy Inference from Demonstration of Assembly Tasks
(Georgia Institute of Technology, 2012)
We describe several algorithms used for the inference of linguistic robot policies from human
demonstration. First, tracking and match objects using the Hungarian Algorithm. Then, we convert Regular Expressions to ...
Efficient Opening Detection
(Georgia Institute of Technology, 2011)
We present an efficient and powerful algorithm for detecting openings. Openings indicate the existence of a new path for the robot. The reliable detection of new openings is especially relevant to the domain of Navigation ...
Humanoid HRP2-DHRC for Autonomous and Interactive Behavior
(Georgia Institute of Technology, 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, ...
Global Manipulation Planning in Robot Joint Space With Task Constraints
(Georgia Institute of Technology, 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 ...
Planning and Executing Navigation Among Movable Obstacles
(Georgia Institute of Technology, 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 ...
Planning Among Movable Obstacles with Artificial Constraints
(Georgia Institute of Technology, 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 ...
The Motion Grammar: Analysis of a Linguistic Method for Robot Control
(Georgia Institute of Technology, 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. ...
Linguistic Transfer of Human Assembly Tasks to Robots
(Georgia Institute of Technology, 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 ...
Robust and Efficient Communication for Real-Time Multi-Process Robot Software
(Georgia Institute of Technology, 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 ...