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— This paper combines grasp analysis and manipulation planning techniques to perform fast grasp planning in complex scenes. In much previous work on grasping, the object being grasped is assumed to be the only object in the environment. Hence the grasp quality metrics and grasping strategies developed do not perform well when the object is close to(More)
Humanoid robotics hardware and control techniques have advanced rapidly during the last five years. Presently, several companies are developing commercial prototype full-body humanoid robots. This humanoid technology will contribute to the development of sophisticated prostheses in the medical field, as well as human augmentation systems on the military(More)
We present an algorithm for planning safe navigation strategies for biped robots moving in obstacle-cluttered environments. From a discrete set of plausible statically-stable, single-step motions, a forward dynamic programming approach is used to compute a sequence of feasible footstep locations. In contrast to existing navigation strategies for mobile(More)
We present an approach to path planning for humanoid robots that computes dynamically-stable, collision-free trajectories from full-body posture goals. Given a geometric model of the environment and a statically-stable desired posture, we search the configuration space of the robot for a collision-free path that simultaneously satisfies dynamic balance(More)
We present an online algorithm for planning sequences of footstep locations that encode goal-directed navigation strategies for humanoid robots. Planning footsteps is more general than most existing navigation methods designed for wheeled robots, since the options of stepping over or upon obstacles in a cluttered terrain are available. Given a discrete set(More)
This paper presents an ecient online method t o generate humanoid walking motions that satisfy desired u p p er body trajectories while simultaneously carrying objects. A fast motion pattern genaration technique that follows the desired ZMP is adopted. In order to satisfy the control input given online, subsequent motion patterns are u p dated a n d c(More)