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Motion Planning for Humanoid Robots
Overview
We are interested in building a
large-scale software simulation framework for the development
and testing of high-level behaviors for complex robots such as
humanoids. Our current research focus includes graphical simulation, motion planning that
satisfies obstacle-avoidance and dynamic
balance constraints, and integrating perceptual data to provide
feedback for motion planning algorithms. |
Hardware Platforms
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M. Stilman, J-U. Shamburek, J.J. Kuffner, and T. Asfour.
Manipulation planning among movable obstacles.
In Proc. IEEE Int. Conf. on Robotics and Automation (ICRA'07),
2007.
To appear.
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K. Steinbach, J.J. Kuffner, T. Asfour, and R. Dillman.
Collision and self-collision detection for humanoids based on sphere tree
hierarchies.
In Proc. IEEE/RAS Int. Conf. on Humanoid Robotics
(Humanoids'06), 2006.
[PDF]
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M. Stilman, K. Nishiwaki, S. Kagami, and J.J. Kuffner.
Planning and executing navigation among
movable obstacles.
In IEEE/RSJ Int. Conf. on Intelligent Robots and Systems
(IROS'06), 2006.
[PDF]
[MoreInfo]
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M. Stilman and J.J. Kuffner.
Planning among movable obstacles
with artificial constraints.
In Proc. 6th Int'l Workshop on the Algorithmic Foundations of Robotics
(WAFR'06), pages 1-20, 2006.
[PDF]
[MoreInfo]
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K. Nishiwaki, J.J. Kuffner, S. Kagami, M. Inaba, and H. Inoue.
The experimental humanoid robot H7 : A research platform for autonomous
behavior.
Phil. Trans. of the Royal Society (special issue "Walking
Machines"), pages 1-28, 2006.
[PDF]
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D. Bertram, J.J. Kuffner, T. Asfour, and R. Dillman.
A unified approach to inverse
kinematics and path planning for redundant manipulators.
In Proc. IEEE Int. Conf. on Robotics and Automation (ICRA'06),
pages 1874-1879, 2006.
[PDF]
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J. Chestnutt, P. Michel, K. Nishiwaki, J.J. Kuffner, and S. Kagami.
An intelligent joystick for biped
control.
In Proc. IEEE Int. Conf. on Robotics and Automation (ICRA'06),
pages 860-865, 2006.
[PDF]
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L. Guilamo, J.J. Kuffner, K. Nishiwaki, and S. Kagami.
Manipulability optimization for trajectory
generation.
In Proc. IEEE Int. Conf. on Robotics and Automation (ICRA'06),
pages 2017-2022, 2006.
[PDF]
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P. Michel, J. Chestnutt, S. Kagami, K. Nishiwaki, J.J. Kuffner, and T. Kanade.
Online environment reconstruction
for biped navigation.
In Proc. IEEE Int. Conf. on Robotics and Automation (ICRA'06),
pages 3089-3094, 2006.
[PDF]
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J. Chestnutt, P. Michel, K. Nishiwaki, M. Stilman, S. Kagami, and J.J. Kuffner.
Using real-time motion capture for humanoid planning and algorithm
visualization.
Video Proc. of IEEE Int'l Conf. on Robotics and Automation (ICRA'2006), May
2006.
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J.J. Kuffner, K. Nishiwaki, S. Kagami, M. Inaba, and H. Inoue.
Motion planning for humanoid robots.
In Robotics Research: The Eleventh International Symposium,
volume 15 of Springer Tracts in Advanced Robotics, page 365.
Springer-Verlag, aug 2005.
ISBN: 3-540-23214-1.
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P. Michel, J. Chestnutt, J.J. Kuffner, and T. Kanade.
Vision-guided humanoid footstep
planning for dynamic environments.
In Proc. IEEE/RAS Int. Conf. on Humanoid Robotics
(Humanoids'05), pages 13-18, 2005.
[PDF]
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M. Stilman and J.J. Kuffner.
Navigation among movable obstacles :
Real-time reasoning in complex environments.
International Journal of Humanoid Robotics, 2(4):1-24, 2005.
[MoreInfo]
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R. Ozawa, Y. Takaoka, Y. Kida, J. Chestnutt, J.J. Kuffner, K. Nishiwaki,
S. Kagami, H. Mizoguchi, and H. Inoue.
Footstep planning using 3D map reconstructed by visual odometry.
In Proc. SMC Systems Man and Cybernetics, 2005.
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L. Guilamo, J. Kuffner, K. Nishiwaki, and S. Kagami.
Efficient prioritized inverse kinematic
solutions for redundant manipulators.
In IEEE/RSJ Int. Conf. on Intelligent Robots and Systems
(IROS'05), 2005.
[Abstract]
[PDF]
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J. Chestnutt, M. Lau, J.J. Kuffner, G. Cheung, J. Hodgins, and T. Kanade.
Footstep Planning for the ASIMO Humanoid Robot
In Proc. IEEE Int'l Conf. on Robotics and Automation
(ICRA'2005), 2005.
[Abstract]
[Info/Movies]
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T. Komura, H. Leung, S. Kudoh, and J.J. Kuffner.
A feedback controller for biped humanoids that can counteract large
perturbations during gait.
In Proc. IEEE Int'l Conf. on Robotics and Automation
(ICRA'2005), 2005.
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M. Stilman, C.G. Atkeson, and J.J. Kuffner.
Dynamic programming in reduced dimensional
spaces : Dynamic planning for robust biped locomotion.
In Proc. IEEE Int'l Conf. on Robotics and Automation
(ICRA'2005), 2005.
[Abstract]
[PDF]
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J. Chestnutt and J.J. Kuffner.
A Tiered Planning Strategy for Biped Navigation.
In Proc. IEEE Int. Conf. on Humanoid Robotics (Humanoids'04),
2004.
[Abstract]
[PDF]
[Info/Movies]
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M. Stilman and J.J. Kuffner.
Navigation among movable obstacles :
Real-time reasoning in complex environments.
In Proc. IEEE Int. Conf. on Humanoid Robotics (Humanoids'04),
2004.
[Info/PDF/Movies]
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J.J. Kuffner, K. Nishiwaki, S. Kagami, M. Inaba, and H. Inoue.
Motion planning for humanoid robots.
International Journal of Robotics Research.
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J.J. Kuffner, K. Nishiwaki, S. Kagami, M. Inaba, and H. Inoue.
Motion planning for humanoid robots.
In Proc. 20th Int'l Symp. Robotics Research (ISRR'03), Italy,
October 2003.
[Abstract]
[PDF]
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J. Chestnutt, J.J. Kuffner, K. Nishiwaki, and S. Kagami.
Planning biped navigation strategies in complex environments.
In Proc. IEEE Int. Conf. on Humanoid Robotics (Humanoids'03), Munich, Germany. October 2003.
[Abstract]
[PDF]
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S. Kagami, J.J. Kuffner, K. Nishiwaki, Y. Kuniyoshi, K. Okada, and M. Inaba.
Humanoid arm motion planning using stereo vision
and RRT search.
In Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems
(IROS'03), Las Vegas, November 2003.
[Abstract]
[PDF]
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S. Kagami, K. Nishiwaki, J.J. Kuffner, K. Okada, Y. Kuniyosh, M. Inaba, and H. Inoue.
Low-level Autonomy of the Humanoid Robots H6 & H7.
Springer-Verlag, 2003.
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J.J. Kuffner, K. Nishiwaki, S. Kagami, Y. Kuniyoshi, M. Inaba, and H. Inoue.
Online footstep planning for humanoid
robots.
In Proc. IEEE Int'l Conf. on Robotics and Automation
(ICRA'2003), Taipei, Taiwan, May 2003.
[Abstract]
[PDF]
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S. Kagami, K. Nishiwaki, J.J. Kuffner, K. Okada, M. Inaba, and H. Inoue.
Vision-based 2.5d terrain modeling for humanoid locomotion.
In Proc. IEEE Int'l Conf. on Robotics and Automation
(ICRA'2003), Taipei, Taiwan, May 2003.
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K. Nishiwaki, S. Kagami, J.J. Kuffner, M. Inaba, and H. Inoue.
Humanoid robot H7.
Video Proc. of IEEE Int'l Conf. on Robotics and Automation (ICRA'2003), May
2003.
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K. Nishiwaki, S. Kagami, J.J. Kuffner, M. Inaba, and H. Inoue.
Online humanoid walking control system with moving goal tracking.
In Proc. IEEE Int'l Conf. on Robotics and Automation
(ICRA'2003), Taipei, Taiwan, May 2003.
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S. Kagami, J.J. Kuffner, K. Nishiwaki, M. Inaba, and H. Inoue. Humanoid arm motion planning using stereo vision
and RRT search.
J. Robotics and Mechatronics, 15(2):200-207, April 2003.
[Abstract]
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J.J. Kuffner, K. Nishiwaki, S. Kagami, Y. Kuniyoshi, M. Inaba, and H. Inoue.
Self-collision detection and prevention for
humanoid robots.
In Proc. IEEE Int'l Conf. on Robotics and Automation
(ICRA'2002), pages 2265-2270, Washington DC, May 2002.
[Abstract]
[PDF]
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S. Kagami, J.J. Kuffner, K. Nishiwaki, M. Inaba, and H. Inoue.
Fast 2d footstep planning for humanoid robot h7.
In Proc. 20th Annual Conf. Robotics Society of Japan (RSJ'02),
page 1C24, 2002.
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J.J. Kuffner, S.Kagami, K. Nishiwaki, M. Inaba, and H. Inoue.
Dynamically-stable motion planning for humanoid
robots.
Autonomous Robots (special issue on Humanoid Robotics),
12(1):105-118, January 2002.
[Abstract]
[PDF]
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S. Kagami, K. Nishiwaki, J.J. Kuffner, Y. Kuniyoshi, M. Inaba, and H. Inoue.
Online 3d vision, motion planning and bipedal
locomotion control.
In Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems
(IROS'02), pages 2557-2562, Lausanne, Switzerland, November 2002.
[Abstract]
[PDF]
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K. Nishiwaki, S.Kagami, J.J. Kuffner, K. Okada, Y. Kuniyoshi, M. Inaba, and H. Inoue.
Online humanoid locomotion control using 3d vision information.
In Proc. IEEE/RSJ Int. Symposium on Experimental Robotics
(ISER'02), December 2002.
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S. Kagami, J.J. Kuffner, K. Nishiwaki, M. Inaba, and H. Inoue.
Terrain measurement and planning for the humanoid robot H7.
In 3rd Annual Conf. Society of Instrument and Control Engineers (System
Integration Division), pages 123-124, December 2002.
(In Japanese).
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S. Kagami, K. Nishiwaki, J.J. Kuffner, K. Okada, M. Inaba, and H. Inoue.
Humanoid arm motion planning based on rrt search of 3d depth map.
In Proc. JSME Annual Conf. on Robotics and Mechatronics (ROBOMEC
'02), pages 2P2-L05, 2002.
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K. Nishiwaki, S. Kagami, J.J. Kuffner, M. Inaba, and H. Inoue.
Humanoid 'JSK-H7' : Research platform for autonomous behavior and whole body
motion.
In Proc. Third IARP Int. Workshop on Humanoid and Human Friendly
Robotics, pages 2-9, December 2002.
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J.J. Kuffner, K. Nishiwaki, S. Kagami, Y. Kuniyoshi, M. Inaba, and H. Inoue.
Efficient leg interference detection for biped robots.
In Proc. 19th Annual Conf. of Robotics Society of Japan
(RSJ'01), pages 927-928, Tokyo, Japan, September 2001.
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J.J. Kuffner, K. Nishiwaki, S. Kagami, M. Inaba, and H. Inoue.
Motion planning for humanoid robots under
obstacle and dynamic balance constraints.
In Proc. IEEE Int'l Conf. on Robotics and Automation
(ICRA'2001), pages 692-698, Seoul, Korea, May 2001.
[Abstract]
[PDF]
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S. Kagami, J.J. Kuffner, K. Nishiwaki, T. Sugihara, T. Michikata, T. Aoyama, M. Inaba, and
H. Inoue.
Design and implementation of a remote operation interface for humanoid robots.
In Proc. IEEE Int'l Conf. on Robotics and Automation
(ICRA'2001), pages 401-406, Seoul, Korea, May 2001.
[MoreInfo]
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S. Kagami, J.J. Kuffner, K. Nishiwaki, T. Sugihara, T. Michikata, T. Aoyama, M. Inaba, and
H. Inoue.
A network operation interface for humanoid robots.
In Proc. RSJ/SICE/JSME 6th Annual Robotics Symposia, Shuzenji,
Japan, March 2001.
(in Japanese).
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J.J. Kuffner, K. Nishiwaki, S. Kagami, M. Inaba, and H. Inoue.
Footstep planning among obstacles for biped
robots.
In Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems
(IROS'01), pages 500-505, Hawaii, October 2001.
[Abstract]
[PDF]
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S. Kagami, K. Nishiwaki, J.J. Kuffner, Y. Kuniyoshi, M. Inaba, and H. Inoue.
Design and implementation of a software
research platform for humanoid robotics : H7.
In Proc. IEEE-RAS Int. Conf. on Humanoid Robotics
(Humanoids'01), pages 253-258, October 2001.
[Abstract]
[PDF]
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S. Kagami, K. Nishiwaki, J.J. Kuffner, K. Okada, Y. Kuniyoshi, M. Inaba, and H. Inoue.
Low-level autonomy in the remote operated humanoid robots H6 and H7.
In Proc. 19th Int'l Symp. Robotics Research (ISRR'01), pages
51-55, Australia, November 2001.
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S. Kagami, K. Nishiwaki, J.J. Kuffner, T. Sugihara, M. Inaba, and H. Inoue.
Design and Implementation of the Humanoid H6 for Remote Operation.
Springer-Verlag, 2001.
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S. Kagami, K. Nishiwaki, T. Sugihara, J.J. Kuffner, M. Inaba, and H. Inoue.
Design and implementation of a software research platform for humanoid robotics
: H6.
In Proc. IEEE Int'l Conf. on Robotics and Automation
(ICRA'2001), pages 2431-2436, Seoul, Korea, May 2001.
[MoreInfo]
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S. Kagami, K. Okada, K. Nishiwaki, J.J. Kuffner, M. Inaba, and H. Inoue.
Low-level autonomy of a humanoid robot using 3d vision.
In Proc. 2001 JSME Conf. on Robotics and Mechatronics
(ROBOMEC'01), pages 2A1-N10, June 2001.
(In Japanese).
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S. Kagami, K. Okada, K. Nishiwaki, J.J. Kuffner, Y. Kuniyoshi, M. Inaba, and H. Inoue.
3D vision based behavior of the humanoid robot H7.
In 2nd Annual Conf. System Integration Division, Society of Instrument
and Control Engineers, December 2001.
(In Japanese).
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A. Hartaman, K. Okada, M. Okabe, J.J. Kuffner, M. Inaba, and H. Inoue.
A robotic behavior generation system using simulation.
In Proc. 2001 JSME Conf. on Robotics and Mechatronics
(ROBOMEC'01), Takamatsu, Japan, June 2001.
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S. Kagami, J.J. Kuffner, K. Nishiwaki, M. Inaba, and H. Inoue.
Humanoid robot H6.
Video Proc. of IEEE Int'l Conf. on Robotics and Automation (ICRA'2001), May
2001.
[MoreInfo]
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J.J. Kuffner, K. Nishiwaki, S. Kagami, M. Inaba, and H. Inoue.
Footstep planning among obstacles for biped robots.
In Proc. RSJ/SICE/JSME 6th Annual Robotics Symposia, pages
7-12, Shuzenji, Japan, March 2001.
(Uses Japanese fonts).
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J.J. Kuffner, S. Kagami, M. Inaba, and H. Inoue.
Graphical simulation and high-level control of
humanoid robots.
In Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems
(IROS'00), volume 3, pages 1943-1948, Takamatsu, Japan, November
2000.
[Abstract]
[PDF]
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S. Kagami, J.J. Kuffner, K. Nishiwaki, T. Sugihara, T. Michikata T. Aoyama, M. Inaba, and
H. Inoue.
A network control interface for humanoid type robots.
In Proc. 18th Annual Conf. of Robotics Society of Japan
(RSJ'00), Kusatsu, Japan, September 2000.
(in Japanese).
[MoreInfo]
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J.J. Kuffner, S. Kagami, M. Inaba, and H. Inoue.
Simulating high-level robot behaviors.
In Proc. of RSJ 5th Annual Robotics Symposia of Japan, pages
339-344, Kobe, Japan, March 2000.
(Uses Japanese fonts).
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J.J. Kuffner, K. Nishiwaki, S. Kagami, M. Inaba, and H. Inoue.
Dynamic humanoid H6: Dynamically-stable full-body motion planning for
humanoid robots.
In Proc. 18th Annual Conf. of Robotics Society of Japan
(RSJ'00), pages 913-914, Kusatsu, Japan, September 2000.
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J.J. Kuffner, K. Nishiwaki, S. Kagami, M. Inaba, and H. Inoue.
Dynamic humanoid H6: Fast manipulation path planning for humanoid robots.
In Proc. 18th Annual Conf. of Robotics Society of Japan
(RSJ'00), pages 915-916, Kusatsu, Japan, September 2000.
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J.J. Kuffner, S.Kagami, M. Inaba, and H. Inoue.
Dynamically-stable motion planning for
humanoid robots.
In Proc. 1st Int. Conf. on Humanoid Robotics (Humanoids'00),
Boston, MA, September 2000.
[Abstract]
[PDF]
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S.Kagami, K. Nishiwaki, J.J. Kuffner, T. Sugihara, M. Inaba, and H. Inoue.
Design, implementation, and remote operation of the humanoid H6.
In Proc. IEEE/RSJ Int. Symposium on Experimental Robotics
(ISER'00), Honolulu, HI, December 2000.
[MoreInfo]
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Research
