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— For humanoid robots to fulfill their mobility potential they must demonstrate reliable and efficient locomotion over rugged and irregular terrain. In this paper we present the perception and planning algorithms which have allowed a humanoid robot to use only passive stereo imagery (as opposed to actuating a laser range sensor) to safely plan footsteps to(More)
This paper describes a collection of optimization algorithms for achieving dynamic planning, control, and state estimation for a bipedal robot designed to operate reliably in complex environments. To make challenging locomotion tasks tractable, we describe several novel applications of convex, mixed-integer, and sparse nonlinear optimization to problems(More)
The MIT Faculty has made this article openly available. Please share how this access benefits you. Your story matters. Abstract The DARPA Robotics Challenge Trials held in December 2013 provided a landmark demonstration of dexterous mobile robots executing a variety of tasks aided by a remote human operator using only data from the robot's sensor suite(More)
Sandia National Laboratories is a multi-program laboratory managed and operated by Sandia Corporation, a wholly owned subsidiary of Lockheed Martin Corporation, for the U.S. Department of Energy's National Nuclear Security Administration under contract DE-AC04-94AL85000. Approved for public release; further dissemination unlimited. NOTICE: This report was(More)
We introduce a novel open-source framework for analyzing and exploring point cloud datasets and algorithms. This is done by integrating the Point Cloud Library (PCL) within ParaView, a parallel scientific visualization tool. In particular , we demonstrate that by wrapping PCL algorithms as VTK 1 filters, we can leverage PCL's functionality in an(More)
Operating a high degree of freedom mobile manipulator, such as a humanoid, in a field scenario requires constant situational awareness, capable perception modules, and effective mechanisms for interactive motion planning and control. A well-designed operator interface presents the operator with enough context to quickly carry out a mission and the(More)
One of the most pressing issues with petascale analysis is the transport of simulation results data to a meaningful analysis. Traditional workflow prescribes storing the simulation results to disk and later retrieving them for analysis and visualization. However, at petascale this storage of the full results is prohibitive. A solution to this problem is to(More)
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