Collision Avoidance for Multiple Agents with Joint Utility Maximization
In this paper a centralized method for collision avoidance among multiple agents is presented
Object and Animation Display with Multiple Aerial Vehicles
This paper presents a fully automated method to display objects and animations in 3D with a group of aerial vehicles.
Multi-Robot Formation Control via a Real-Time Drawing Interface
This paper describes a system that takes real-time user input to direct a robot swarm. The user interface is via drawing, and the user can create a single drawing or an animation to be represented by robots.
Control of Dynamic Gaits for a Quadrupedal Robot
In this paper, we present a control framework for a quadrupedal robot that is capable of locomoting using several gaits
Playing Catch with Robots: Incorporating Social Gestures into Physical Interactions
This paper investigates the effects of adding gestures to a physical game between a human and a humanoid robot.
Automatic Task-Specific Model Reduction for Humanoid Robots
This paper presents an automatic model reduction procedure for humanoid robots, which is task-specific.
Iterative Learning Control for High-Fidelity Tracking of Fast Motions on Entertainment Humanoid Robots
In this paper, we demonstrate a successful application of an iterative learning control algorithm to automate the process of fine tuning choreographed human-speed motions on a 37 degree-of-freedom humanoid robot.
Comparing Foot Placement Strategies for Planar Bipedal Walking
A number of foot placement strategies for walking have been proposed that make use of widely varying model complexities. Although a number of successful demonstrations have been individually shown in simulation and on physical robots, it is difficult to make a direct performance comparison due to the large differences in hardware, gait generation strategy, control system gains, actuator saturation limits, sensor noise, and many other physical limitations. Here we present a quantitative stability comparison of four foot-placement strategies.
Synthesizing Object Receiving Motions of Humanoid Robots with Human Motion Database
This paper presents a method for synthesizing motions of a humanoid robot that receives an object from a human, with focus on a natural object passing scenario where the human initiates the passing motion by moving an object towards the robot, which continuously adapts its motion to the observed human motion in real time.
Ray-Shooting Algorithms for Robotics
This paper discusses several general ray-shooting algorithms and their applications to these problems in robotics.
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