T. Turner Topping — accepted AI-conference papers

2018

Sensor-Based Reactive Execution of Symbolic Rearrangement Plans by a Legged Mobile Manipulator

Vasileios Vasilopoulos, T. Turner Topping, William Vega-Brown, Nicholas Roy, Daniel E. Koditschek

IROS 2018poster

We demonstrate the physical rearrangement of wheeled stools in a moderately cluttered indoor environment by a quadrupedal robot that autonomously achieves a user's desired configuration. The robot's behaviors are planned and executed by a three layer hierarchical architecture consisting of: an offli…

Cited by 28 Source ↗Scholar ↗

2017

Quasi-static and dynamic mismatch for door opening and stair climbing with a legged robot

T. Turner Topping, Gavin Kenneally, D. E. Koditschek

ICRA 2017poster

This paper contributes to quantifying the notion of robotic fitness by developing a set of necessary conditions that determine whether a small quadruped has the ability to open a class of doors or climb a class of stairs using only quasi-static maneuvers. After verifying that several such machines f…

Cited by 31 Source ↗Scholar ↗