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Manipulation Planning Among Movable Obstacles
TLDR
In this paper we have introduced the RSC sampling-based reverse search algorithm for handling exponentially complex non-linear spaces. Expand
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Task constrained motion planning in robot joint space
  • M. Stilman
  • Mathematics, Computer Science
  • IEEE/RSJ International Conference on Intelligent…
  • 10 December 2007
TLDR
We explore global randomized joint space path planning for articulated robots that are subject to task space constraints and develop two simple and efficient methods for constrained sampling of joint configurations. Expand
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Sampling heuristics for optimal motion planning in high dimensions
TLDR
We present a sampling-based motion planner that improves the performance of the probabilistically optimal RRT* planning algorithm in high dimensional configuration spaces. Expand
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Navigation among Movable Obstacles: Real-Time Reasoning in Complex Environments
TLDR
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. Expand
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Path Planning among Movable Obstacles: A Probabilistically Complete Approach
TLDR
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. Expand
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Golem Krang: Dynamically stable humanoid robot for mobile manipulation
TLDR
Golem Krang is a new humanoid robot capable of full access to its workspace in both static and dynamic stability modes in a restricted environment through dynamic motion. Expand
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Navigation among movable obstacles: real-time reasoning in complex environments
  • M. Stilman, J. Kuffner
  • Computer Science
  • 4th IEEE/RAS International Conference on Humanoid…
  • 10 November 2004
TLDR
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. Expand
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A General-purpose System for Teleoperation of the DRC-HUBO Humanoid Robot
TLDR
We present a general system with a focus on addressing three events of the 2013 DARPA Robotics Challenge DRC trials: debris clearing, door opening, and wall breaking. Expand
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Global Manipulation Planning in Robot Joint Space With Task Constraints
  • M. Stilman
  • Mathematics, Computer Science
  • IEEE Transactions on Robotics
  • 1 June 2010
TLDR
This paper describes a representation of constrained motion for joint-space planners and develops two simple and efficient methods for constrained sampling of joint configurations: tangent-space sampling and first-order retraction. Expand
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Planning Among Movable Obstacles with Artificial Constraints
TLDR
In this paper we present artificial constraints as a method for guiding heuristic search in the computationally challenging domain of motion planning among movable obstacles. Expand
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