Planning algorithms are impacting technical disciplines and industries around the world,
including robotics, computer-aided design, manufacturing, computer graphics, aerospace …

A new motion planning method for robots in static workspaces is presented. This method
proceeds in two phases: a learning phase and a query phase. In the learning phase, a …

A simple and efficient randomized algorithm is presented for solving single-query path
planning problems in high-dimensional configuration spaces. The method works by …

Describes an approach to probabilistic roadmap planners (PRMs). The overall theme of the
algorithm, called Lazy PRM, is to minimize the number of collision checks performed during …

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 …

In this paper we develop a set of inverse kinematics algorithms suitable for an
anthropomorphic arm or leg. We use a combination of analytical and numerical methods to …

This paper presents a technique for adapting existing motion of a human-like character to
have the desired features that are specified by a set of constraints. This problem can be …

Techniques from the image and signal processing domain can be successfully applied to
designing, modifying, and adapting animated motion. For this purpose, we introduce …

This handbook provides an up-to-date compendium of fundamental computer science
topics, techniques, and applications. Along with updating and revising many of the existing …

Fourier Principles for Emotion-based Human Figure Animation Page 1 This paper describes
the method for modeling human figure locomotions with emotions. Fourier expansions of …