office: NSH 3211
address: 5000 Forbes Ave
Pittsburgh, PA 15213
phone: 412 268 5581
Motion Planning for Articulated Robotic Systems
The projects in this area are concerned with developing high-dimensional motion planners that generate feasible motion trajectories for articulated robotic systems such as robotic arms in real-time. The challenge is to develop planners that can do it in real-time and at the same time provide theoretical guarantees on performance such as completeness.
Here are some of the projects my students and I have worked on previously or are working now:
Here is a movie showing a collection of some of our work on motion planning for mobile manipulation