Graphics enhanced version of this site

Perception for Humanoid Robots
Head: Takeo Kanade
Contact: Philipp Michel (pmichel@cs.cmu.edu)

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

Associated centers: VASC and CFR
Associated lab/group: Planning and Autonomy Lab

This page last updated - December 2006.

We are developing real-time perception strategies that, combined with efficient planning and robust execution, enable humanoid robots to autonomously navigate, manipulate and interact in dynamic, unpredictably changing environments.

Our highly articulated humanoid platforms, such as Honda's ASIMO and the AIST/Kawada HRP-2, present special research challenges in terms of the robustness, speed and accuracy required of the perception system. We seek to tackle these issues by employing novel sensors and computing paradigms, as well as by exploiting the unique locomotion capabilities of humanoids and the structure of their operating environments.

Name - Title <Email Address>
• Satoshi Kagami - Visiting Faculty
• [Home] Takeo Kanade - U.A. and Helen Whitaker University Prof. <tk@cs.cmu.edu>
• [Home] James Kuffner - Assistant Professor <kuffner@cs.cmu.edu>
• [Home] Philipp Michel - PhD Student, RI <pmichel@cs.cmu.edu>

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

• 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