3 papers
cs.RO2018
Prioritized Kinematic Control of Joint-Constrained Head-Eye Robots using the Intermediate Value Approach
Steven Jens Jorgensen, Orion Campbell, Travis Llado +3
Existing gaze controllers for head-eye robots can only handle single fixation points. Here, a generic controller for head-eye robots capable of executing simultaneous and prioritiz…
cs.RO2018
Fast Kinodynamic Bipedal Locomotion Planning with Moving Obstacles
Junhyeok Ahn, Orion Campbell, Donghyun Kim +1
We present a sampling-based kinodynamic planning framework for a bipedal robot in complex environments. Unlike other footstep planner which typically plan footstep locations and th…
cs.RO2018
Computationally-Robust and Efficient Prioritized Whole-Body Controller with Contact Constraints
Donghyun Kim, Jaemin Lee, Orion Campbell +2
In this paper, we devise methods for the multi- objective control of humanoid robots, a.k.a. prioritized whole- body controllers, that achieve efficiency and robustness in the algo…