We explore global randomized joint-space path planning for articulated robots that are
subjected to task-space constraints. This paper describes a representation of constrained …

Researchers dream of develo** autonomous humanoid robots which behave/walk like a
human being. Biped robots, although complex, have the greatest potential for use in human …

Tomorrow's humanoids will operate in human environments, where efficient manipulation
and locomotion skills, and safe contact interactions are critical design factors. We report here …

We explore global randomized joint space path planning for articulated robots that are
subject to task space constraints. This paper describes a representation of constrained …

A great challenge for robotic systems is their ability to carry on complex manipulation and
locomotion tasks while responding to the changing environment. To allow robots to operate …

This paper introduces a novel and general real-time adaptive motion planning (RAMP)
approach suitable for planning trajectories of high-DOF or redundant robots, such as mobile …

This paper presents a real-time kinematic control strategy to realize fast tracking of
redundant robot manipulators in a time-varying environment. An obstacle avoidance method …

As a result of intensive research over the last few decades, several robotic systems are
approaching a level of maturity that allows robust task execution and safe interaction with …

When a robot physically interacts with a human user, the requirements should be drastically
changed. The most important requirement is the safety of the human user in the sense that …

Reactively dealing with self-collisions is an important requirement on multidegree-of-
freedom robots in unstructured and dynamic environments. Classical methods to integrate …