— A central challenging problem in humanoid robotics is to plan and execute dynamic tasks in dynamic environments. Given that the environment is known, sampling-based online moti...
Abstract— This paper explores autonomous locomotion, reaching, grasping and manipulation for the domain of Navigation Among Movable Obstacles (NAMO). The robot perceives and cons...
Mike Stilman, Koichi Nishiwaki, Satoshi Kagami, Ja...
This article presents a new approach to movement planning, on-line trajectory modification, and imitation learning by representing movement plans based on a set of nonlinear di...
— In this work, we present an integrated planner for collision-free single and dual arm grasping motions. The proposed Grasp-RRT planner combines the three main tasks needed for ...