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Fast valve turning is described using an Atlas humanoid robot. An integrated valve-turning skill is presented, which only requires an operator to issue a supervisory command to launch valve identification, motion planning, biped locomotion and valve manipulation. Using compliant motion control in dual-arm, palmar (non-prehensile) manipulation, robust valve turning is achieved at speeds comparable...
We present a novel approach to legged locomotion over rough terrain that is thoroughly rooted in optimization. This approach relies on a hierarchy of fast, anytime algorithms to plan a set of footholds, along with the dynamic body motions required to execute them. Components within the planning framework coordinate to exchange plans, cost-to-go estimates, and “certificates” that ensure the output...
In recent years, the Department of Defense and NASA have imposed significant resources on developing advanced launch technologies. Reusable launch vehicle (RLV) program is one of such efforts to take the place of space shuttles for RLVs. Our previous research proposed a scheme of motion primitives (MPs) and neighboring optimal control (NOC) to deal with on-line failure recovery for an RLV during approach...
Mobile robot motion planning is one of core technologies in mobile robot navigation. According to the contradiction between the intelligence and the control precision of mobile robot as well as the behavior fusionspsila insufficiency in traditional motion planning method, a layered motion planning method is presented. Behavior is arranged in different layer according to its objectpsilas relation,...
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