Two manipulation planning algorithms
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Motion Planning of Legged Robots
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A 2-stages locomotion planner for digital actors
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Autonomous agents for real-time animation
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Multi-step motion planning: application to free-climbing robots
Multi-step motion planning: application to free-climbing robots
Autonomous object manipulation for virtual humans
ACM SIGGRAPH 2008 classes
A miniature ceiling walking robot with flat tacky elastomeric footpads
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Tankbot: a miniature, peeling based climber on rough and smooth surfaces
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
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ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
International Journal of Robotics Research
Toward human-like walking pattern generator
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
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IEEE Transactions on Robotics
Motion planning with dynamics by a synergistic combination of layers of planning
IEEE Transactions on Robotics
Tankbot: A Palm-size, Tank-like Climbing Robot using Soft Elastomer Adhesive Treads
International Journal of Robotics Research
Improving traversability of quadruped walking robots using body movement in 3D rough terrains
Robotics and Autonomous Systems
Interactive climbing route design using a simulated virtual climber
SIGGRAPH Asia 2011 Sketches
Multistable phase regulation for robust steady and transitional legged gaits
International Journal of Robotics Research
Dynamic walking and whole-body motion planning for humanoid robots: an integrated approach
International Journal of Robotics Research
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This paper addresses the problem of planning the motion of a multilimbed robot in order to "free-climb" vertical rock surfaces. Freeclimbing only relies on frictional contact with the surfaces rather than on special fixtures or tools like pitons. It requires strength, but more importantly it requires deliberate reasoning: not only must the robot decide how to adjust its posture to reach the next feature without falling, it must plan an entire sequence of steps, where each one might have future consequences. In this paper, this process of reasoning is broken into manageable pieces by decomposing a freeclimbing robot's configuration space into manifolds associated with each state of contact between the robot and its environment. A multistep planning framework is presented that decides which manifolds to explore by generating a candidate sequence of hand and foot placements first. A one-step planning algorithm is then described that explores individual manifolds quickly. This algorithm extends the probabilistic roadmap approach to better handle the interaction between static equilibrium and the topology of closed kinematic chains. It is assumed throughout this paper that a set of potential contact points has been presurveyed. Validation with real hardware was done with a four-limbed robot called LEMUR (developed by the Mechanical and Robotic Technologies Group at NASA-JPL). Using the planner presented in this paper, LEMUR free-climbed an indoor, near-vertical surface covered with artificial rock features.