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Constrained Manipulation Planning
Dmitry Berenson
doctoral dissertation, tech. report CMU-RI-TR-11-08, Robotics Institute, Carnegie Mellon University, May, 2011
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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.
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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.
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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.
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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.
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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
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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.
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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.
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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.
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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.
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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.
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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.
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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.
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pdf (7MB) | Copyrighted
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