ICRA
2005
IEEE
14 years 5 months ago
2005
IEEE
Motion planning for robots with many degrees of freedom requires the exploration of an exponentially large configuration space. Single-query motion planners restrict exploration ...
ICRA
2005
IEEE
14 years 5 months ago
2005
IEEE
— Robotic motion planning requires configuration space exploration. In high-dimensional configuration spaces, a complete exploration is computationally intractable. Practical m...
IROS
2007
IEEE
14 years 5 months ago
2007
IEEE
— Lie group symmetry in a mechanical system can lead to a dimensional reduction in its dynamical equations. Typically, the symmetries that one exploits are intrinsic to the mecha...
IROS
2007
IEEE
14 years 5 months ago
2007
IEEE
— Standard methods to model multibody systems are aimed at systems with configuration spaces isomorphic to Rn . This limitation leads to singularities and other artifacts in cas...
IROS
2008
IEEE
14 years 5 months ago
2008
IEEE
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...
ICRA
2008
IEEE
14 years 5 months ago
2008
IEEE
— Computationally efficient motion planning must avoid exhaustive exploration of configuration space. We argue that this can be accomplished most effectively by carefully balan...
ICRA
2009
IEEE
14 years 6 months ago
2009
IEEE
Abstract— We present the Constrained Bi-directional RapidlyExploring Random Tree (CBiRRT) algorithm for planning paths in configuration spaces with multiple constraints. This al...
ICRA
2009
IEEE
14 years 6 months ago
2009
IEEE
— We present a global vector field computation algorithm in configuration spaces for smooth feedback motion planning. Our algorithm performs approximate cell decomposition in t...