81 search results - page 6 / 17 » Task constrained motion planning in robot joint space |
IROS
2009
IEEE
15 years 4 months ago
2009
IEEE
Abstract— We consider the problem of planning collisionfree motions for general (i.e., possibly nonholonomic) redundant robots subject to task space constraints. Previous approac...
95
Voted
AROBOTS
2002
14 years 9 months ago
2002
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 t...
ICRA
2007
IEEE
15 years 3 months ago
2007
IEEE
— This paper presents the ResolveSpatialConstraints (RSC) algorithm for manipulation planning in a domain with movable obstacles. Empirically we show that our algorithm quickly g...
133
Voted
Publication
Partially observable Markov decision processes (POMDPs) have been
successfully applied to various robot motion planning tasks under uncertainty.
However, most existing POMDP algo...
ICRA
2005
IEEE
15 years 3 months ago
2005
IEEE
— This paper describes a generation method for spatially natural biped walking. By limiting the COG (Center of Gravity) motion space to a sculptured surface, the degree of freedo...