We present a hierarchical planning system and its application to robotic manipulation. The novel features of the system are: 1) it finds high-quality kinematic solutions to task-l...
Typical mobile robots can be customized to perform a variety of different tasks by combining in different ways a set of basic control modules, or behaviors. By contrast, most cu...
— In this paper, we present efficient solutions for planning motions of dual-arm manipulation and re-grasping tasks. Motion planning for such tasks on humanoid robots with a hig...
Niko Vahrenkamp, Dmitry Berenson, Tamim Asfour, Ja...
— In this paper, we present a novel approach for sensor-guided robotic execution of everyday tasks, which is amenable to be integrated in current mobile manipulators and humanoid...
Mario Prats, Philippe Martinet, Angel P. Del Pobil...
—In this paper we consider the problem of controlling multiple robots manipulating and transporting a payload in three dimensions via cables. We develop robot configurations tha...