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Planning for Manipulation
Head: James Kuffner
Contact: James Kuffner
Mailing address:
Carnegie Mellon University
Robotics Institute
5000 Forbes Avenue
Pittsburgh, PA 15213
Associated center(s) / consortia:
 Center for the Foundations of Robotics (CFR)
Associated lab(s) / group(s):
 Planning and Autonomy Lab
Publications
  • Constrained Manipulation Planning

    Dmitry Berenson
    doctoral dissertation, tech. report CMU-RI-TR-11-08, Robotics Institute, Carnegie Mellon University, May, 2011
    Details | pdf (16MB) | Copyrighted

  • Pose-Constrained Whole-Body Planning using Task Space Region Chains

    Dmitry Berenson, Joel Chestnutt, Siddhartha Srinivasa, James Kuffner, and Satoshi Kagami
    IEEE-RAS International Conference on Humanoid Robots (Humanoids09), December, 2009.
    Details | pdf (2MB) | Copyrighted

  • Humanoid Motion Planning for Dual-Arm Manipulation and Re-Grasping Tasks

    Nikolaus Vahrenkamp, Dmitry Berenson, Tamim Asfour, James Kuffner, and Rudiger Dillmann
    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '09), October, 2009.
    Details | pdf (812KB) | Copyrighted

  • Addressing Pose Uncertainty in Manipulation Planning Using Task Space Regions

    Dmitry Berenson, Siddhartha Srinivasa, and James Kuffner
    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '09), October, 2009.
    Details | pdf (2MB) | Copyrighted

  • The Robotic Busboy: Steps Towards Developing a Mobile Robotic Home Assistant

    Siddhartha Srinivasa, David Ferguson , J Michael Vandeweghe, Rosen Diankov, Dmitry Berenson, Casey Helfrich, and K=Hauke Strasdat
    International Conference on Intelligent Autonomous Systems, July, 2008.
    Details | pdf (5MB) | Copyrighted

  • OpenRAVE: A Planning Architecture for Autonomous Robotics

    Rosen Diankov and James Kuffner
    tech. report CMU-RI-TR-08-34, Robotics Institute, Carnegie Mellon University, July, 2008
    Details | pdf (3MB) | Copyrighted

  • Grasp Synthesis in Cluttered Environments for Dexterous Hands

    Dmitry Berenson and Siddhartha Srinivasa
    Robotics Science and Systems (RSS) Workshop on Robot Manipulation: Intelligence in Human Environments, June, 2008.
    Details | pdf (2MB) | Copyrighted

  • BiSpace Planning: Concurrent Multi-Space Exploration

    Rosen Diankov, Nathan Ratliff, David Ferguson , Siddhartha Srinivasa, and James Kuffner
    Robotics: Science and Systems, June, 2008.
    Details | pdf (2MB) | Copyrighted

  • An Optimization Approach to Planning for Mobile Manipulation

    Dmitry Berenson, Howie Choset, and James Kuffner
    IEEE International Conference on Robotics and Automation (ICRA) 2008, May, 2008, pp. 1187-1192.
    Details | pdf (737KB) | Copyrighted

  • Manipulation Planning with Caging Grasps

    Rosen Diankov, Siddhartha Srinivasa, David Ferguson , and James Kuffner
    2008 IEEE International Conference on Humanoid Robots, December, 2008.
    Details | pdf (4MB) | Copyrighted

  • Grasp Synthesis in Cluttered Environments for Dexterous Hands

    Dmitry Berenson and Siddhartha Srinivasa
    IEEE-RAS International Conference on Humanoid Robots (Humanoids08), December, 2008.
    Details | pdf (3MB) | Copyrighted

  • Grasp Planning in Complex Scenes

    Dmitry Berenson, Rosen Diankov, Koichi Nishiwaki, Satoshi Kagami, and James Kuffner
    IEEE-RAS International Conference on Humanoid Robots (Humanoids07), December, 2007.
    Details | pdf (4MB) | Copyrighted

  • Randomized Path Planning for Redundant Manipulators without Inverse Kinematics

    J Michael Vandeweghe, David Ferguson , and Siddhartha Srinivasa
    IEEE-RAS International Conference on Humanoid Robots, November, 2007.
    Details | pdf (7MB) | Copyrighted