Abstract— This paper proposes the kinodynamic gait planning for humanoid robots where both kinematics and dynamics of the system are considered. We can simultaneously plan both t...
— In this paper, a control scheme that combines trajectory planning and gaze direction control for robotic exploration is presented. The objective is to calculate the gaze direct...
— 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...
We present an online algorithm for planning sequences of footstep locations that encode goal-directed navigation strategies for humanoid robots. Planning footsteps is more general...
James J. Kuffner Jr., Satoshi Kagami, Koichi Nishi...