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Time-Optimal Path Following with Bounded Joint Accelerations and Velocities
(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 ...
The Motion Grammar: Linguistic Perception, Planning, and Control
(Georgia Institute of Technology, 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 ...
Real-Time Path Planning for a Robot Arm in Changing Environments
(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 ...
Whole-Body Trajectory Optimization for Humanoid Falling
(Georgia Institute of Technology, 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 ...
Robot Path Planning Using Field Programmable Analog Arrays
(Georgia Institute of Technology, 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 ...
Optimized Control Strategies for Wheeled Humanoids and Mobile Manipulators
(Georgia Institute of Technology, 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 ...
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 ...
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 ...
Push Planning for Object Placement in Clutter Using the PR-2
(Georgia Institute of Technology, 2011-09)
The goal of this project is to investigate the implementation
of a planning algorithm for the problem of placing objects
on a cluttered surface with a PR-2 mobile manipulator. The
original push planning algorithm [1] ...
Push Planning for Object Placement on Cluttered Table Surfaces
(Georgia Institute of Technology, 2011-09)
We present a novel planning algorithm for the
problem of placing objects on a cluttered surface such as a
table, counter or floor. The planner (1) selects a placement for
the target object and (2) constructs a sequence ...