4 accepted papers
Resource sharing is a crucial part of a multi-robot system. We propose a Boolean satisfiability problem (SAT) based approach to resource sharing. Our key contributions are an algorithm for converting any constrained assignment to a weighted-SAT based optimization. We propose a theorem that allows op…
Traversing environments with arbitrary obstacles poses significant challenges for bipedal robots. In some cases, whole body motions may be necessary to maneuver around an obstacle, but most existing footstep planners can only select from a discrete set of predetermined footstep actions; they are una…
This paper explores combining task and manipulation planning for humanoid robots. Existing methods tend to either take prohibitively long to compute for humanoids or artificially limit the physical capabilities of the humanoid platform by restricting the robot's actions to predetermined trajectories…
Humanoid robots are designed with dozens of actuated joints to suit a variety of tasks, but walking controllers rarely make the best use of all of this freedom. We present a framework for maximizing the use of the full humanoid body for the purpose of stable dynamic locomotion, which requires no res