Satoshi Kagami

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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 obstacles(More)
We present an algorithm for planning safe navigation strategies for biped robots moving in obstaclecluttered 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)
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 goal-directed footstep navigation strategies for biped robots through obstacle-filled environments and uneven ground. Planning footsteps is more general than most existing navigation methods designed for wheeled robots, since the options of stepping over or upon obstacles are available. Given a height map of the terrain(More)
This paper describes the development of a Plane Segment Finder, which is able to detect threedimensional planar surfaces from input images in real-time. We propose an algorithm for detecting plane segments, that includes 1) Plane segment candidate extraction using 3D Hough Transformation from depth map information, 2) Fitting the plane segment candidates to(More)
This paper presents an e cient online method to generate humanoid walking motions that satisfy desired upper 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 updated and connected(More)
Navigation planning for legged robots via foot placement planning has enabled several humanoids to traverse interesting environments autonomously. In this paper we explore methods of adapting foot placement actions to the terrain during the search process, allowing for fuller use of the robot’s capabilities, and better resulting paths. We show the results(More)
The paper describes a 2D sound source mapping system for a mobile robot. We developed a multiple sound sources localization method for a mobile robot with a 32 channel concentric microphone array. The system can separate multiple moving sound sources using direction localization. Directional localization and separation of different pressure sound sources is(More)
We present an algorithm for computing stable collision-free motions for humanoid robots given fullbody posture goals. The motion planner is part of a simulation environment under development for providing high-level software control for humanoid robots. Given a robot’s internal model of the environment and a statically-stable desired posture, we use a(More)