Humanoid robots, unmanned rovers, entertainment pets, drones, and so on are great
examples of mobile robots. They can be distinguished from other robots by their ability to …

We address the challenging problem of robotic grasping and manipulation in the presence
of uncertainty. This uncertainty is due to noisy sensing, inaccurate models, and hard-to …

Mobile manipulation tasks require a seamless integration of navigation and manipulation
capabilities. Finding suitable robot placements to pick up and place objects in such tasks is …

This paper addresses the problem of real-time planning in constrained dual-arm
manipulation scenarios. Our proposed coupling leverages manipulability information of the …

Future robots operating in fast-changing anthropomorphic environments need to be reactive,
safe, flexible, and intuitively use both arms (comparable to humans) to handle task-space …

This paper presents recent advances to the Affordance Template (AT) task description
language. Affordance Templates provide standardized, easy-to-use tools for defining robot …

A key prerequisite for planning manipulation together with locomotion of humanoids in
complex environments is to find a valid end-pose with a feasible stance location and a full …

Similar to human work, robotic tasks sometimes require two hands to be accomplished. This
requires coordinated motion planning and control. While fulfilling the task in a coordinated …

As part of a feasibility study, this paper shows the NASA Valkyrie humanoid robot performing
an endto-end improvised explosive device (IED) response task. To demonstrate and …

In this research chapter, we will present a software toolbox called EXOTica that is aimed at
rapidly prototyping and benchmarking algorithms for motion synthesis. We will first introduce …