Xianchao Long

2 accepted papers

2017

Anytime multi-task motion planning for humanoid robots

Xianchao Long, Murphy Wonsick, Velin Dimitrov, Taşkın Padır

IROS 2017poster

This paper introduces an anytime synthesized motion planning algorithm for humanoid robots unifying locomotion and manipulation planning. It generates an entire set of motions to finish specific tasks in an environment containing obstacles by exploiting a powerful inverse kinematics (IK) engine. The…

Cited by 6 Source ↗Scholar ↗

2016

Template-based human supervised robot task programming

Xianchao Long, Taşkın Padır

IROS 2016poster

Motions of a robot interacting with its environment can be described by a set of constraints. This paper introduces an approach, called motion template, which can quickly program and compose the constraints for the motion planner to generate the trajectory. Two types of motion templates, grasp and t…

Cited by 6 Source ↗Scholar ↗