PPT-Humanoid Motion Planning for Dual-Arm Manipulation and Re-Grasping Tasks

Humanoid Motion Planning for DualArm Manipulation and ReGrasping Tasks Nikolaus Vahrenkamp Dmitry Berenson Tamim Asfour James Kuffner Rudiger Dillmann Institute for Anthropometrics University of Karlsruhe. It operates on detailed continuous geometric representations and does not require apriori discretization of the state or action spaces I I NTRODUCTION As robots become more physically robust and capable of sophisticated sensing navigation and manipu In this paper a humanoid robot WABIAN2R capable of not only humanlike walking but also the emulation of disabled persons walking is proposed It has two 6DOF legs two 1passiveDOF feet a 2DOF pelvis a 2DOF trunk two 7DOF arms with 3DOF hands and a 3D sautlisifjussieufr sahbaniccrjussieufr vperdccrjussieufr Abstract This paper addresses the motion planning problem of the dexterous manipulation of 3D rigid objects by a roboti multi64257ngered hand We propose a novel approach based on pro b abilist Karen Liu Georgia Institute of Technology Abstract This paper introduces an optimizationbased approach to synthe sizing hand manipulations from a starting grasping pose We de scribe an automatic method that takes as input an initial grasping pose an Carnegie Mellon University. 9. th. IEEE-RAS International Conference on Humanoid Robots. December 8, 2009. Modeling and Control of Periodic Humanoid Balance Using the Linear Biped Model. Introduction. Natchanon. . Wongwilai. Adviser: . Nattee. . Niparnan. , Ph.D.. M.Eng. .. 1. Outline. Introduction. How to grasp?, Why failed to grasp?, Goal. Related Works. Vision-based grasping, Manipulation under uncertainty. Yan-Bin . Jia. . (with . Ph.D. students . Feng . Guo. . and . Huan Lin. ). Department of Computer Science. Iowa State University. Ames, IA 50010, USA. Rigid Body Grasping – Form Closure. The object has no degree of freedom (. Philipp . Allgeuer. , Hafez . Farazi. , Michael Schreiber and Sven . Behnke. Autonomous Intelligent Systems. University of Bonn. Existing Standard Platforms. Existing Standard Platforms. Motivation. Why a new platform?. P. Michel, J. . Chestnutt. , J. . Kuffner. , T. . Kanade. Carnegie Mellon University – Robotics Institute. Humanoids 2005. Objective. Paper presents a vision- based footstep planning system that computes the best partial footstep path within its time-limited search horizon, according to problem-specific cost metrics and heuristics.. Jacaqueta Davis. Brock Dickinson. Michael Ledet. Department of Computer Science and Industrial Technology. Southeastern Louisiana University. 500 W University Ave, Hammond, LA 70402. The objective of this project is to build a low cost motion detection device that will detect a human presence. . Develop a. . Unit Training Management (UTM) Plan. Conditions: . Mid-grade. . HR . Leaders in a classroom environment working individually and as a member of a small group, using doctrinal and administrative publications, . Unit Training Management (UTM). Conditions: . FM . Leaders in a classroom environment working individually and as a member of a small group, using doctrinal and administrative publications, . web-based training, tutorials, . Concrete Experience. Terminal Learning Objective. Action: . Determine Financial Management Specified, Critical, and Implied tasks pertaining to an Operations Order/ Operations Plan.. Conditions: . AACOMASIn medicine 147manipulation148 is de31ned as the therapeutic application of manual pressure or force OMM also called Osteopathic Manipulative Treatment OMT is a form of manipulation that Is