Organizational Unit:
Humanoid Robotics Laboratory

Permanent Link
https://hdl.handle.net/1853/70718
Research Organization Registry ID
Description
Previous Names
Parent Organization
Parent Organization
Includes Organization(s)
ArchiveSpace Name Record

Filters

2011 2
2
2
2
2
Reset filters

Settings
search.filters.applied.f.resourcesubtype: Paper ×

Publication Search Results

Now showing 1 - 2 of 2
Thumbnail Image
Item

Push Planning for Object Placement in Clutter Using the PR-2

2011-09 , Emeli, Victor , Kemp, Charles C. , Stilman, Mike

The goal of this project is to investigate the implementation of a planning algorithm for the problem of placing objects on a cluttered surface with a PR-2 mobile manipulator. The original push planning algorithm [1] was initially developed as a simulation. We modified the simulator for execution in real-world cluttered environments. This paper discusses the challenges of implementation and presents empirical results that determine how well the simulator models the real world as clutter is pushed and collides with other objects.

View
Thumbnail Image
Item

Make Your Robot Talk Correctly: Deriving Models of Hybrid System

2011-07 , Dantam, Neil , Stilman, Mike , Egerstedt, Magnus B.

Using both formal language and differential equations to model a robotic system, we introduce a calculus of transformation rules for the symbolic derivation of hybrid controllers. With a Context-Free Motion Grammar, we show how to test reachability between different regions of state-space and give several symbolic transformations to modify the set of event strings the system may generate. This approach lets one modify the language of the hybrid system, providing a way to change system behavior so that it satisfies linguistic constraints on correct operation.

View