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Philipp Michel
PhD Student

Associated centers: VASC and CFR

Email address: pmichel@cs.cmu.edu

Mailing address:
Carnegie Mellon University
Robotics Institute
5000 Forbes Avenue
Pittsburgh, PA 15213

For more information, see my personal homepage.

Jump to: Research interests | Keywords | Labs & groups | Projects | Publications

I am interested in humanoid robotics, focusing on the intersection of computer vision and planning.

My aim is to equip humanoids with some of the perception skills needed to autonomously navigate, manipulate and interact in everyday human environments. This includes biped walking, obstacle avoidance, object localization & grasping, tracking and interacting with people, etc. The resulting algorithms and methods should be generally applicable in vision and robotics, but deliver particularly interesting results on a humanoid.

I currently spend most of my time working with a Honda ASIMO. When in Japan, I do research on an HRP-2 humanoid robot.

computer vision, human-computer interaction, humanoid robotics, legged locomotion, machine learning, motion planning, object recognition, obstacle avoidance, stereo vision, and visual tracking

• Planning and Autonomy Lab - Autonomous motion planning and control of humanoid robots, quadrupeds, mobile manipulators, and UAVs.

• Footstep Planning for Biped Robots - Navigation strategies for bipeds through complex environments, planning for the full capabilities of the biped.
• GPU-accelerated Computer Vision - We are exploiting programmable graphics hardware to improve existing vision algorithms and enable novel approaches to robot perception.
• Perception for Humanoid Robots - Real-time perception algorithms for autonomous humanoid navigation, manipulation and interaction.

Note: This list may not be comprehensive. It contains only those publications in the RI publications database. Entries are listed in reverse chronological order.

• GPU-accelerated Real-Time 3D Tracking for Humanoid Locomotion and Stair Climbing
  P. Michel, J. Chestnutt, S. Kagami, K. Nishiwaki, J. Kuffner, and T. Kanade
  Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'07), October, 2007, pp. 463-469. [Abstract]
  Download: pdf [1413 KB] copyrighted

• Planning for Robust Execution of Humanoid Motions using Future Perceptive Capability
  P. Michel, C. Scheurer, J. Kuffner, N. Vahrenkamp, and R. Dillmann
  Proceedings of the IEEE/RSJ IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'07), October, 2007, pp. 3223-3228. [Abstract]
  Download: pdf [2042 KB] copyrighted

• Roillo: Creating a social robot for playrooms
  M.P. Michalowski, S. Sabanovic, and P. Michel
  Proceedings of the 15th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN 2006), IEEE, September, 2006, pp. 587 - 592. [Abstract]
  Download: pdf [368 KB] copyrighted

• An Intelligent Joystick for Biped Control
  J. Chestnutt, P. Michel, K. Nishiwaki, J. Kuffner, and S. Kagami
  Proceedings of the IEEE International Conference on Robotics and Automation, May, 2006, pp. 860 - 865. [Abstract]
  Download: pdf [1503 KB] copyrighted

• Online Environment Reconstruction for Biped Navigation
  P. Michel, J. Chestnutt, S. Kagami, K. Nishiwaki, J. Kuffner, and T. Kanade
  Proceedings of the IEEE International Conference on Robotics and Automation (ICRA'06), May, 2006, pp. 3089 - 3094. [Abstract]
  Download: pdf [1986 KB] copyrighted

• Vision-Guided Humanoid Footstep Planning for Dynamic Environments
  P. Michel, J. Chestnutt, J. Kuffner, and T. Kanade
  Proceedings of the IEEE-RAS Conference on Humanoid Robots (Humanoids'05), December, 2005, pp. 13 - 18. [Abstract]
  Download: pdf [1799 KB] copyrighted

• Augmented Reality for Robot Development and Experimentation
  M. Stilman, P. Michel, J. Chestnutt, K. Nishiwaki, S. Kagami, and J. Kuffner
  tech. report CMU-RI-TR-05-55, Robotics Institute, Carnegie Mellon University, November, 2005. [Abstract]
  Download: pdf [7275 KB] copyrighted