— 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...
— This paper presents a method for a planar rigid body consisting of multiple convex bodies to explore an unknown planar workspace, i.e., an unknown configuration space diffeomo...
— In this paper, we propose a new method for the motion planning problem of rigid object dexterous manipulation with a robotic multi-fingered hand, under quasi-static movement a...
— This paper discusses the grasp planning of a multifingered hand attached at the tip of a robotic arm. By using the convex models and the new approximation method of the fricti...
Abstract— In this paper, we explore the problem of threedimensional motion planning in highly cluttered and unstructured outdoor environments. Because accurate sensing and modeli...