Publications




Physically-based Grasp Quality Evaluation under Uncertainty
Junggon Kim, Kunihiro Iwamoto, James Kuffner, Yasuhiro Ota, and Nancy Pollard
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 3258 - 3263, May, 2012
Task Space Regions: A Framework for Pose-Constrained Manipulation Planning
Dmitry Berenson, Siddhartha Srinivasa, and James Kuffner
Journal Article, International Journal of Robotics Research, Vol. 30, No. 12, pp. 1435 - 1460, October, 2011
An Optimization Approach to Rough Terrain Locomotion
Matthew Zucker, J. Andrew (Drew) Bagnell, Chris Atkeson, and James Kuffner
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 3589 - 3595, May, 2010
HERB: a home exploring robotic butler
Siddhartha Srinivasa, David Ferguson, Casey Helfrich, Dmitry Berenson, Alvaro Collet Romea, Rosen Diankov, Garratt Gallagher, Geoffrey Hollinger, James Kuffner, and J. Michael Vande Weghe
Journal Article, Autonomous Robots: Special Issue: Autonomous Mobile Manipulation, Vol. 28, No. 1, 2010
Pose-Constrained Whole-Body Planning using Task Space Region Chains
Dmitry Berenson, Joel Chestnutt, Siddhartha Srinivasa, James Kuffner, and Satoshi Kagami
Conference Paper, Proceedings of 9th IEEE-RAS International Conference on Humanoid Robots (Humanoids '09), pp. 181 - 187, December, 2009
Space-Filling Trees
James Kuffner and Steven M. LaValle
Tech. Report, CMU-RI-TR-09-47, Robotics Institute, Carnegie Mellon University, December, 2009
Addressing Pose Uncertainty in Manipulation Planning Using Task Space Regions
Dmitry Berenson, Siddhartha Srinivasa, and James Kuffner
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1419 - 1425, October, 2009
Humanoid Motion Planning for Dual-Arm Manipulation and Re-Grasping Tasks
Nikolaus Vahrenkamp, Dmitry Berenson, Tamim Asfour, James Kuffner, and Rudiger Dillmann
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2464 - 2470, October, 2009
Manipulation Planning on Constraint Manifolds
Dmitry Berenson, Siddhartha Srinivasa, David Ferguson, and James Kuffner
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 625 - 632, May, 2009
Manipulation Planning with Workspace Goal Regions
Dmitry Berenson, Siddhartha Srinivasa, David Ferguson, Alvaro Collet Romea, and James Kuffner
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 618 - 624, May, 2009
Manipulation Planning with Caging Grasps
Rosen Diankov, Siddhartha Srinivasa, David Ferguson, and James Kuffner
Conference Paper, Proceedings of 8th IEEE-RAS International Conference on Humanoid Robots (Humanoids '08), pp. 285 - 292, December, 2008
Improved Motion Planning Speed and Safety using Regions of Inevitable Collision
Nicholas Chan, James Kuffner, and Matthew Zucker
Conference Paper, Proceedings of 17th CISM-IFToMM Symposium on Robot Design, Dynamics, and Control (RoManSy '08), July, 2008
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
BiSpace Planning: Concurrent Multi-Space Exploration
Rosen Diankov, Nathan Ratliff, David Ferguson, Siddhartha Srinivasa, and James Kuffner
Conference Paper, Proceedings of Robotics: Science and Systems (RSS '08), June, 2008
GPU-accelerated Real-Time 3D Tracking for Humanoid Autonomy
Philipp Michel, Joel Chestnutt, Satoshi Kagami, Koichi Nishiwaki, James Kuffner, and Takeo Kanade
Conference Paper, Proceedings of JSME Robotics and Mechatronics Conference (ROBOMEC '08), June, 2008
Adaptive Workspace Biasing for Sampling Based Planners
Matthew Zucker, James Kuffner, and J. Andrew (Drew) Bagnell
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 3757 - 3762, May, 2008
An Optimization Approach to Planning for Mobile Manipulation
Dmitry Berenson, Howie Choset, and James Kuffner
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 1187 - 1192, May, 2008
Path and Trajectory Diversity: Theory and Algorithms
Michael S. Branicky, Ross Alan Knepper, and James Kuffner
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 1359 - 1364, May, 2008
Grasp Planning in Complex Scenes
Dmitry Berenson, Rosen Diankov, Koichi Nishiwaki, Satoshi Kagami, and James Kuffner
Conference Paper, Proceedings of 7th IEEE-RAS International Conference on Humanoid Robots (Humanoids '07), pp. 42 - 48, December, 2007
GPU-accelerated Real-Time 3D Tracking for Humanoid Locomotion and Stair Climbing
Philipp Michel, Joel Chestnutt, Satoshi Kagami, Koichi Nishiwaki, James Kuffner, and Takeo Kanade
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 463 - 469, October, 2007
Planning for Robust Execution of Humanoid Motions using Future Perceptive Capability
Philipp Michel, Christian Scheurer, James Kuffner, Nikolaus Vahrenkamp, and Rudiger Dillmann
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 3223 - 3228, October, 2007
Randomized Statistical Path Planning
Rosen Diankov and James Kuffner
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, October, 2007
Multipartite RRTs for Rapid Replanning in Dynamic Environments
Matthew Zucker, James Kuffner, and Michael Branicky
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 1603 - 1609, April, 2007
Hierarchical Motion Planning for Self-reconfigurable Modular Robots
Preethi Srinivas Bhat, James Kuffner, Seth Goldstein, and Siddhartha Srinivasa
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 886 - 891, October, 2006
Planning and Executing Navigation Among Movable Obstacles
Michael Stilman, Koichi Nishiwaki, Satoshi Kagami, and James Kuffner
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 820 - 826, October, 2006
Precomputed Search Trees: Planning for Interactive Goal-Driven Animation
Manfred Lau and James Kuffner
Conference Paper, Proceedings of ACM SIGGRAPH/Eurographics Symposium on Computer Animation (SCA '06), pp. 299 - 308, September, 2006
Planning Among Movable Obstacles with Artificial Constraints
Michael Stilman and James Kuffner
Workshop Paper, 7th International Workshop on the Algorithmic Foundations of Robotics (WAFR '06), pp. 119 - 135, July, 2006
An Integrated Approach to Inverse Kinematics and Path Planning for Redundant Manipulators
Dominik Bertram, James Kuffner, Ruediger Dillmann, and Tamim Asfour
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 1874 - 1879, May, 2006
An Intelligent Joystick for Biped Control
Joel Chestnutt, Philipp Michel, Koichi Nishiwaki, James Kuffner, and Satoshi Kagami
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 860 - 865, May, 2006
Anytime Path Planning and Replanning in Dynamic Environments
Jur van den Berg, David Ferguson, and James Kuffner
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 2366 - 2371, May, 2006
Online Environment Reconstruction for Biped Navigation
Philipp Michel, Joel Chestnutt, Satoshi Kagami, Koichi Nishiwaki, James Kuffner, and Takeo Kanade
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 3089 - 3094, May, 2006
Navigation Among Movable Obstacles: Real-Time Reasoning in Complex Environments
Michael Stilman and James Kuffner
Journal Article, International Journal of Humanoid Robotics, Vol. 2, No. 4, pp. 479 - 504, December, 2005
Vision-Guided Humanoid Footstep Planning for Dynamic Environments
Philipp Michel, Joel Chestnutt, James Kuffner, and Takeo Kanade
Conference Paper, Proceedings of 5th IEEE-RAS Conference on Humanoid Robots (Humanoids '05), pp. 13 - 18, December, 2005
Augmented Reality for Robot Development and Experimentation
Michael Stilman, Philipp Michel, Joel Chestnutt, Koichi Nishiwaki, Satoshi Kagami, and James Kuffner
Tech. Report, CMU-RI-TR-05-55, Robotics Institute, Carnegie Mellon University, November, 2005
Behavior Planning for Character Animation
Manfred Lau and James Kuffner
Conference Paper, Proceedings of ACM SIGGRAPH/Eurographics Symposium on Computer Animation (SCA '05), pp. 271 - 280, July, 2005
Dynamic Programming in Reduced Dimensional Spaces: Dynamic Planning For Robust Biped Locomotion
Michael Stilman, Chris Atkeson, James Kuffner, and Garth Zeglin
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 2399 - 2404, April, 2005
Footstep Planning for the Honda ASIMO Humanoid
Joel Chestnutt, Manfred Lau, Kong Man Cheung, James Kuffner, Jessica K. Hodgins, and Takeo Kanade
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 629 - 634, April, 2005
Planning 3-D Path Networks in Unstructured Environments
Nicolas Vandapel, James Kuffner, and Omead Amidi
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 4624 - 4629, April, 2005
Navigation Among Movable Obstacles: Real-time Reasoning in Complex Environments
Michael Stilman and James Kuffner
Conference Paper, Proceedings of 4th IEEE/RAS International Conference on Humanoid Robots (Humanoids '04), pp. 322 - 341, November, 2004
A Tiered Planning Strategy for Biped Navigation
Joel Chestnutt and James Kuffner
Conference Paper, Proceedings of 4th IEEE/RAS International Conference on Humanoid Robots (Humanoids '04), pp. 422 - 436, November, 2004
Efficient Optimal Search of Euclidean-Cost Grids and Lattices
James Kuffner
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, Vol. 2, pp. 1946 - 1951, September, 2004
Autonomous Behaviors for Interactive Vehicle Animations
Jared Go, Thuc Vu, and James Kuffner
Conference Paper, Proceedings of ACM SIGGRAPH/Eurographics Symposium on Computer Animation (SCA '04), pp. 9 - 18, August, 2004
Synthesizing Animations of Human Manipulation Tasks
Katsu Yamane, James Kuffner, and Jessica K. Hodgins
Journal Article, ACM Transactions on Graphics (TOG), Vol. 23, No. 3, pp. 532 - 539, August, 2004
Effective Sampling and Distance Metrics for 3D Rigid Body Path Planning
James Kuffner
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, Vol. 4, pp. 3993 - 3998, April, 2004
Motion Planning for Humanoid Robots
James Kuffner, Koichi Nishiwaki, Satoshi Kagami, Masayuki Inaba, and Hirochika Inoue
Conference Paper, Proceedings of 11th International Symposium on Robotics Research (ISRR '03), pp. 365 - 374, November, 2003
Planning Biped Navigation Strategies in Complex Environments
Joel Chestnutt, James Kuffner, Koichi Nishiwaki, and Satoshi Kagami
Conference Paper, Proceedings of IEEE-RAS International Conference on Humanoid Robots (Humanoids '03), October, 2003
Online Footstep Planning for Humanoid Robots
James Kuffner, K. Nishiwaki, Satoshi Kagami, Y. Kuniyoshi, M. Inaba, and H. Inoue
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, Vol. 1, pp. 932 - 937, September, 2003
Fast Synthetic Vision, Memory, and Learning Models for Virtual Humans
James Kuffner and Jean-Claude Latombe
Conference Paper, Proceedings of Computer Animation (CA '99), pp. 118 - 127, May, 1999
Planning Motions with Intentions
Yoshihito Koga, Koichi Kondo, James Kuffner, and Jean-Claude Latombe
Conference Paper, Proceedings of 21st Annual Conference on Computer Graphics and Interactive Techniques (SIGGRAPH '94), pp. 395 - 408, July, 1994