Robots with many degrees of freedom (eg, humanoid robots and mobile manipulators) have
increasingly been employed to accomplish realistic tasks in domains such as disaster relief …

The objective of this work is to augment the basic abilities of a robot by learning to use
sensorimotor primitives to solve complex long-horizon manipulation problems. This requires …

We present a manipulation planning framework that allows robots to plan in the presence of
constraints on end-effector pose, as well as other common constraints. The framework has …

We present a review and reformulation of manifold constrained sampling-based motion
planning within a unifying framework, IMACS (implicit manifold configuration space). IMACS …

We present the Constrained Bi-directional Rapidly-Exploring Random Tree (CBiRRT)
algorithm for planning paths in configuration spaces with multiple constraints. This algorithm …

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 …

The situation arising in path planning under kinematic constraints, where the valid
configurations define a manifold embedded in the joint ambient space, can be seen as a …

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 …

We present the hardware design, software architecture, and core algorithms of Herb 2.0, a
bimanual mobile manipulator developed at the Personal Robotics Lab at Carnegie Mellon …

The reduction of the kinematics and/or dynamics of a high-DOF robotic manipulator to a low-
dimension ldquotask spacerdquo has proven to be an invaluable tool for designing …