We present a novel method for prioritizing both linear equality and inequality systems and provide one algorithm for its resolution. This algorithm can be summarized as a sequence ...
— Motion planning for robots with many degrees of freedom (DoF) is a generally unsolved problem in the robotics context. In this work an approach for trajectory planning is prese...
Niko Vahrenkamp, Christian Scheurer, Tamim Asfour,...
— Reaching is a critical task for humanoid robots, requiring the application of state-of-the-art algorithms for motion planning and inverse kinematics. Practical algorithms for s...
— In this paper we address smooth and collision-free whole-body motion planning for humanoid robots. A two-stage iterative planning framework is introduced where geometric motion...
— We present an approach to motion planning for highly articulated systems that aims to ensure robust execution by augmenting the planning process to reason about the robot’s a...
Philipp Michel, Christian Scheurer, James J. Kuffn...