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	Graphical Simulation and Motion Planning for Humanoid Robots OVERVIEW SIMULATION MOTION PLANNING PERCEPTION LINKS

Project Overview The web page describes our current efforts toward building a large-scale software simulation framework for the development and testing of high-level behaviors for complex robots such as humanoids. Our current research focus includes graphical simulation, motion planning that satisfies obstacle-avoidance and dynamic balance constraints, and integrating perceptual data to provide feedback for motion planning algorithms. NOTE: I have received many requests regarding the availability of my software, which runs under both RedHat Linux and SGI Irix 6.x. Currently, I am cleaning up the code and fixing some minor bugs, but I plan to release the source code under the GNU Public Licence in the near future. Please check back again soon. -James

Graphical Simulation	Motion Planning	Perception-Based Control

Hardware Platforms

		COMING SOON:
Humanoid "H5" (japanese) (127 cm, 33 kg, 30 DOF)	Humanoid "H6" (137 cm, 55 kg, 35 DOF)	Humanoid "H7"

Selected Papers

• J.J. Kuffner, K. Nishiwaki, S. Kagami, M. Inaba, and H. Inoue. Motion Planning for Humanoid Robots under Obstacle and Dynamic Balance Constraints. Submitted to Proc. IEEE Int'l Conf. on Robotics and Automation (ICRA 2001).

• J.J. Kuffner, S. Kagami, M. Inaba, and H. Inoue. Graphical simulation and high-level control of humanoid robots. In Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS'00), Takamatsu, Japan, November 2000. [Abstract] [PostScript]

• J.J. Kuffner, K. Nishiwaki, S. Kagami, M. Inaba, and H. Inoue. Dynamic humanoid H6: Fast manipulation path planning for humanoid robots. In Proc. 18th Annual Conf. of Robotics Society of Japan (RSJ'00), Kusatsu, Japan, September 2000. (short poster paper - Uses Japanese fonts). [Abstract] [PostScript]

• J.J. Kuffner, S.Kagami, M. Inaba, and H. Inoue. Dynamically-stable motion planning for humanoid robots. In Proc. of 1st Int. Conf. on Humanoid Robotics (Humanoids'00), Boston, MA, September 2000. [Abstract] [PostScript]

• J.J. Kuffner and S.M. LaValle. RRT-Connect: An efficient approach to single-query path planning. In Proc. IEEE Int'l Conf. on Robotics and Automation (ICRA'2000), San Francisco, CA, April 2000. [Abstract] [PostScript] [MoreInfo]

• J.J. Kuffner, K. Nishiwaki, S. Kagami, M. Inaba, and H. Inoue. Dynamic humanoid H6: Dynamically-stable full-body motion planning for humanoid robots. In Proc. 18th Annual Conf. of Robotics Society of Japan (RSJ'00), Kusatsu, Japan, September 2000. (short poster paper - Uses Japanese fonts). [Abstract] [PostScript]

• J.J. Kuffner, M. Inaba, and H. Inoue. Automating object manipulation tasks for humanoid robots. In Proc. 2000 JSME Conf. on Robotics and Mechatronics (ROBOMEC'00), pages 2P2-79-103, Kumamoto, Japan, May 2000. (short poster paper - Uses Japanese fonts). [Abstract] [PostScript]

Videos

Click the above image to download a movie clip of experiments with the H6 humanoid robot (Warning! file size = 12 MB)