James Kuffner  
 
Research
Papers

Motion Planning for Humanoid Robots

Overview

We are interested in building a large-scale software simulation framework for the development and testing of high-level behaviors for complex robots such as humanoids. Our current research focus includes graphical simulation, motion planning that satisfies obstacle-avoidance and dynamic balance constraints, and integrating perceptual data to provide feedback for motion planning algorithms.


Graphical Simulation Motion Planning Perception for Humanoids


Self-Collision Detection Footstep Planning Navigation Among Movable Obstacles

 

Hardware Platforms



Humanoid "H5" (japanese)
Humanoid "H6"
Humanoid "H7"

Humanoid "HRP2"
Honda ASIMO

Selected Papers

bullet M. Stilman, J-U. Shamburek, J.J. Kuffner, and T. Asfour. Manipulation planning among movable obstacles. In Proc. IEEE Int. Conf. on Robotics and Automation (ICRA'07), 2007. To appear.  
 
bullet K. Steinbach, J.J. Kuffner, T. Asfour, and R. Dillman. Collision and self-collision detection for humanoids based on sphere tree hierarchies. In Proc. IEEE/RAS Int. Conf. on Humanoid Robotics (Humanoids'06), 2006. [PDF]  
 
bullet M. Stilman, K. Nishiwaki, S. Kagami, and J.J. Kuffner. Planning and executing navigation among movable obstacles. In IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS'06), 2006. [PDF] [MoreInfo]  
 
bullet M. Stilman and J.J. Kuffner. Planning among movable obstacles with artificial constraints. In Proc. 6th Int'l Workshop on the Algorithmic Foundations of Robotics (WAFR'06), pages 1-20, 2006. [PDF] [MoreInfo]  
 
bullet K. Nishiwaki, J.J. Kuffner, S. Kagami, M. Inaba, and H. Inoue. The experimental humanoid robot H7 : A research platform for autonomous behavior. Phil. Trans. of the Royal Society (special issue "Walking Machines"), pages 1-28, 2006. [PDF]  
 
bullet D. Bertram, J.J. Kuffner, T. Asfour, and R. Dillman. A unified approach to inverse kinematics and path planning for redundant manipulators. In Proc. IEEE Int. Conf. on Robotics and Automation (ICRA'06), pages 1874-1879, 2006. [PDF]  
 
bullet J. Chestnutt, P. Michel, K. Nishiwaki, J.J. Kuffner, and S. Kagami. An intelligent joystick for biped control. In Proc. IEEE Int. Conf. on Robotics and Automation (ICRA'06), pages 860-865, 2006. [PDF]  
 
bullet L. Guilamo, J.J. Kuffner, K. Nishiwaki, and S. Kagami. Manipulability optimization for trajectory generation. In Proc. IEEE Int. Conf. on Robotics and Automation (ICRA'06), pages 2017-2022, 2006. [PDF]  
 
bullet P. Michel, J. Chestnutt, S. Kagami, K. Nishiwaki, J.J. Kuffner, and T. Kanade. Online environment reconstruction for biped navigation. In Proc. IEEE Int. Conf. on Robotics and Automation (ICRA'06), pages 3089-3094, 2006. [PDF]  
 
bullet J. Chestnutt, P. Michel, K. Nishiwaki, M. Stilman, S. Kagami, and J.J. Kuffner. Using real-time motion capture for humanoid planning and algorithm visualization. Video Proc. of IEEE Int'l Conf. on Robotics and Automation (ICRA'2006), May 2006.  
 
bullet J.J. Kuffner, K. Nishiwaki, S. Kagami, M. Inaba, and H. Inoue. Motion planning for humanoid robots. In Robotics Research: The Eleventh International Symposium, volume 15 of Springer Tracts in Advanced Robotics, page 365. Springer-Verlag, aug 2005. ISBN: 3-540-23214-1.  
 
bullet P. Michel, J. Chestnutt, J.J. Kuffner, and T. Kanade. Vision-guided humanoid footstep planning for dynamic environments. In Proc. IEEE/RAS Int. Conf. on Humanoid Robotics (Humanoids'05), pages 13-18, 2005. [PDF]  
 
bullet M. Stilman and J.J. Kuffner. Navigation among movable obstacles : Real-time reasoning in complex environments. International Journal of Humanoid Robotics, 2(4):1-24, 2005. [MoreInfo]  
 
bullet R. Ozawa, Y. Takaoka, Y. Kida, J. Chestnutt, J.J. Kuffner, K. Nishiwaki, S. Kagami, H. Mizoguchi, and H. Inoue. Footstep planning using 3D map reconstructed by visual odometry. In Proc. SMC Systems Man and Cybernetics, 2005.  
 
bullet L. Guilamo, J. Kuffner, K. Nishiwaki, and S. Kagami. Efficient prioritized inverse kinematic solutions for redundant manipulators. In IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS'05), 2005. [Abstract] [PDF]  
 
bullet J. Chestnutt, M. Lau, J.J. Kuffner, G. Cheung, J. Hodgins, and T. Kanade. Footstep Planning for the ASIMO Humanoid Robot In Proc. IEEE Int'l Conf. on Robotics and Automation (ICRA'2005), 2005. [Abstract] [Info/Movies]  
 
bullet T. Komura, H. Leung, S. Kudoh, and J.J. Kuffner. A feedback controller for biped humanoids that can counteract large perturbations during gait. In Proc. IEEE Int'l Conf. on Robotics and Automation (ICRA'2005), 2005.  
 
bullet M. Stilman, C.G. Atkeson, and J.J. Kuffner. Dynamic programming in reduced dimensional spaces : Dynamic planning for robust biped locomotion. In Proc. IEEE Int'l Conf. on Robotics and Automation (ICRA'2005), 2005. [Abstract] [PDF]  
 
bullet J. Chestnutt and J.J. Kuffner. A Tiered Planning Strategy for Biped Navigation. In Proc. IEEE Int. Conf. on Humanoid Robotics (Humanoids'04), 2004. [Abstract] [PDF] [Info/Movies]  
 
bullet M. Stilman and J.J. Kuffner. Navigation among movable obstacles : Real-time reasoning in complex environments. In Proc. IEEE Int. Conf. on Humanoid Robotics (Humanoids'04), 2004. [Info/PDF/Movies]  
 
bullet J.J. Kuffner, K. Nishiwaki, S. Kagami, M. Inaba, and H. Inoue. Motion planning for humanoid robots. International Journal of Robotics Research.  
bullet J.J. Kuffner, K. Nishiwaki, S. Kagami, M. Inaba, and H. Inoue. Motion planning for humanoid robots. In Proc. 20th Int'l Symp. Robotics Research (ISRR'03), Italy, October 2003. [Abstract] [PDF]
 
bullet J. Chestnutt, J.J. Kuffner, K. Nishiwaki, and S. Kagami. Planning biped navigation strategies in complex environments. In Proc. IEEE Int. Conf. on Humanoid Robotics (Humanoids'03), Munich, Germany. October 2003. [Abstract] [PDF]  
bullet S. Kagami, J.J. Kuffner, K. Nishiwaki, Y. Kuniyoshi, K. Okada, and M. Inaba. Humanoid arm motion planning using stereo vision and RRT search. In Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS'03), Las Vegas, November 2003. [Abstract] [PDF]
 
bullet S. Kagami, K. Nishiwaki, J.J. Kuffner, K. Okada, Y. Kuniyosh, M. Inaba, and H. Inoue. Low-level Autonomy of the Humanoid Robots H6 & H7. Springer-Verlag, 2003.
 
bullet J.J. Kuffner, K. Nishiwaki, S. Kagami, Y. Kuniyoshi, M. Inaba, and H. Inoue. Online footstep planning for humanoid robots. In Proc. IEEE Int'l Conf. on Robotics and Automation (ICRA'2003), Taipei, Taiwan, May 2003. [Abstract] [PDF]
 
bullet S. Kagami, K. Nishiwaki, J.J. Kuffner, K. Okada, M. Inaba, and H. Inoue. Vision-based 2.5d terrain modeling for humanoid locomotion. In Proc. IEEE Int'l Conf. on Robotics and Automation (ICRA'2003), Taipei, Taiwan, May 2003.
 
bullet K. Nishiwaki, S. Kagami, J.J. Kuffner, M. Inaba, and H. Inoue. Humanoid robot H7. Video Proc. of IEEE Int'l Conf. on Robotics and Automation (ICRA'2003), May 2003.
 
bullet K. Nishiwaki, S. Kagami, J.J. Kuffner, M. Inaba, and H. Inoue. Online humanoid walking control system with moving goal tracking. In Proc. IEEE Int'l Conf. on Robotics and Automation (ICRA'2003), Taipei, Taiwan, May 2003.
 
bullet S. Kagami, J.J. Kuffner, K. Nishiwaki, M. Inaba, and H. Inoue. Humanoid arm motion planning using stereo vision and RRT search. J. Robotics and Mechatronics, 15(2):200-207, April 2003. [Abstract]  
bullet J.J. Kuffner, K. Nishiwaki, S. Kagami, Y. Kuniyoshi, M. Inaba, and H. Inoue. Self-collision detection and prevention for humanoid robots. In Proc. IEEE Int'l Conf. on Robotics and Automation (ICRA'2002), pages 2265-2270, Washington DC, May 2002. [Abstract] [PDF]  
 
bullet S. Kagami, J.J. Kuffner, K. Nishiwaki, M. Inaba, and H. Inoue. Fast 2d footstep planning for humanoid robot h7. In Proc. 20th Annual Conf. Robotics Society of Japan (RSJ'02), page 1C24, 2002.  
 
bullet J.J. Kuffner, S.Kagami, K. Nishiwaki, M. Inaba, and H. Inoue. Dynamically-stable motion planning for humanoid robots. Autonomous Robots (special issue on Humanoid Robotics), 12(1):105-118, January 2002. [Abstract] [PDF]  
 
bullet S. Kagami, K. Nishiwaki, J.J. Kuffner, Y. Kuniyoshi, M. Inaba, and H. Inoue. Online 3d vision, motion planning and bipedal locomotion control. In Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS'02), pages 2557-2562, Lausanne, Switzerland, November 2002. [Abstract] [PDF]  
 
bullet K. Nishiwaki, S.Kagami, J.J. Kuffner, K. Okada, Y. Kuniyoshi, M. Inaba, and H. Inoue. Online humanoid locomotion control using 3d vision information. In Proc. IEEE/RSJ Int. Symposium on Experimental Robotics (ISER'02), December 2002.  
 
bullet S. Kagami, J.J. Kuffner, K. Nishiwaki, M. Inaba, and H. Inoue. Terrain measurement and planning for the humanoid robot H7. In 3rd Annual Conf. Society of Instrument and Control Engineers (System Integration Division), pages 123-124, December 2002. (In Japanese).  
 
bullet S. Kagami, K. Nishiwaki, J.J. Kuffner, K. Okada, M. Inaba, and H. Inoue. Humanoid arm motion planning based on rrt search of 3d depth map. In Proc. JSME Annual Conf. on Robotics and Mechatronics (ROBOMEC '02), pages 2P2-L05, 2002.  
 
bullet K. Nishiwaki, S. Kagami, J.J. Kuffner, M. Inaba, and H. Inoue. Humanoid 'JSK-H7' : Research platform for autonomous behavior and whole body motion. In Proc. Third IARP Int. Workshop on Humanoid and Human Friendly Robotics, pages 2-9, December 2002.  
 
bullet J.J. Kuffner, K. Nishiwaki, S. Kagami, Y. Kuniyoshi, M. Inaba, and H. Inoue. Efficient leg interference detection for biped robots. In Proc. 19th Annual Conf. of Robotics Society of Japan (RSJ'01), pages 927-928, Tokyo, Japan, September 2001.  
 
bullet J.J. Kuffner, K. Nishiwaki, S. Kagami, M. Inaba, and H. Inoue. Motion planning for humanoid robots under obstacle and dynamic balance constraints. In Proc. IEEE Int'l Conf. on Robotics and Automation (ICRA'2001), pages 692-698, Seoul, Korea, May 2001. [Abstract] [PDF]  
 
bullet S. Kagami, J.J. Kuffner, K. Nishiwaki, T. Sugihara, T. Michikata, T. Aoyama, M. Inaba, and H. Inoue. Design and implementation of a remote operation interface for humanoid robots. In Proc. IEEE Int'l Conf. on Robotics and Automation (ICRA'2001), pages 401-406, Seoul, Korea, May 2001. [MoreInfo]  
 
bullet S. Kagami, J.J. Kuffner, K. Nishiwaki, T. Sugihara, T. Michikata, T. Aoyama, M. Inaba, and H. Inoue. A network operation interface for humanoid robots. In Proc. RSJ/SICE/JSME 6th Annual Robotics Symposia, Shuzenji, Japan, March 2001. (in Japanese).  
 
bullet J.J. Kuffner, K. Nishiwaki, S. Kagami, M. Inaba, and H. Inoue. Footstep planning among obstacles for biped robots. In Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS'01), pages 500-505, Hawaii, October 2001. [Abstract] [PDF]  
 
bullet S. Kagami, K. Nishiwaki, J.J. Kuffner, Y. Kuniyoshi, M. Inaba, and H. Inoue. Design and implementation of a software research platform for humanoid robotics : H7. In Proc. IEEE-RAS Int. Conf. on Humanoid Robotics (Humanoids'01), pages 253-258, October 2001. [Abstract] [PDF]  
 
bullet S. Kagami, K. Nishiwaki, J.J. Kuffner, K. Okada, Y. Kuniyoshi, M. Inaba, and H. Inoue. Low-level autonomy in the remote operated humanoid robots H6 and H7. In Proc. 19th Int'l Symp. Robotics Research (ISRR'01), pages 51-55, Australia, November 2001.  
 
bullet S. Kagami, K. Nishiwaki, J.J. Kuffner, T. Sugihara, M. Inaba, and H. Inoue. Design and Implementation of the Humanoid H6 for Remote Operation. Springer-Verlag, 2001.  
 
bullet S. Kagami, K. Nishiwaki, T. Sugihara, J.J. Kuffner, M. Inaba, and H. Inoue. Design and implementation of a software research platform for humanoid robotics : H6. In Proc. IEEE Int'l Conf. on Robotics and Automation (ICRA'2001), pages 2431-2436, Seoul, Korea, May 2001. [MoreInfo]  
 
bullet S. Kagami, K. Okada, K. Nishiwaki, J.J. Kuffner, M. Inaba, and H. Inoue. Low-level autonomy of a humanoid robot using 3d vision. In Proc. 2001 JSME Conf. on Robotics and Mechatronics (ROBOMEC'01), pages 2A1-N10, June 2001. (In Japanese).  
 
bullet S. Kagami, K. Okada, K. Nishiwaki, J.J. Kuffner, Y. Kuniyoshi, M. Inaba, and H. Inoue. 3D vision based behavior of the humanoid robot H7. In 2nd Annual Conf. System Integration Division, Society of Instrument and Control Engineers, December 2001. (In Japanese).  
 
bullet A. Hartaman, K. Okada, M. Okabe, J.J. Kuffner, M. Inaba, and H. Inoue. A robotic behavior generation system using simulation. In Proc. 2001 JSME Conf. on Robotics and Mechatronics (ROBOMEC'01), Takamatsu, Japan, June 2001.  
 
bullet S. Kagami, J.J. Kuffner, K. Nishiwaki, M. Inaba, and H. Inoue. Humanoid robot H6. Video Proc. of IEEE Int'l Conf. on Robotics and Automation (ICRA'2001), May 2001. [MoreInfo]  
 
bullet J.J. Kuffner, K. Nishiwaki, S. Kagami, M. Inaba, and H. Inoue. Footstep planning among obstacles for biped robots. In Proc. RSJ/SICE/JSME 6th Annual Robotics Symposia, pages 7-12, Shuzenji, Japan, March 2001. (Uses Japanese fonts).  
 
bullet J.J. Kuffner, S. Kagami, M. Inaba, and H. Inoue. Graphical simulation and high-level control of humanoid robots. In Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS'00), volume 3, pages 1943-1948, Takamatsu, Japan, November 2000. [Abstract] [PDF]  
 
bullet S. Kagami, J.J. Kuffner, K. Nishiwaki, T. Sugihara, T. Michikata T. Aoyama, M. Inaba, and H. Inoue. A network control interface for humanoid type robots. In Proc. 18th Annual Conf. of Robotics Society of Japan (RSJ'00), Kusatsu, Japan, September 2000. (in Japanese). [MoreInfo]  
 
bullet J.J. Kuffner, S. Kagami, M. Inaba, and H. Inoue. Simulating high-level robot behaviors. In Proc. of RSJ 5th Annual Robotics Symposia of Japan, pages 339-344, Kobe, Japan, March 2000. (Uses Japanese fonts).  
 
bullet J.J. Kuffner, K. Nishiwaki, S. Kagami, M. Inaba, and H. Inoue. Dynamic humanoid H6: Dynamically-stable full-body motion planning for humanoid robots. In Proc. 18th Annual Conf. of Robotics Society of Japan (RSJ'00), pages 913-914, Kusatsu, Japan, September 2000.  
 
bullet J.J. Kuffner, K. Nishiwaki, S. Kagami, M. Inaba, and H. Inoue. Dynamic humanoid H6: Fast manipulation path planning for humanoid robots. In Proc. 18th Annual Conf. of Robotics Society of Japan (RSJ'00), pages 915-916, Kusatsu, Japan, September 2000.  
 
bullet J.J. Kuffner, S.Kagami, M. Inaba, and H. Inoue. Dynamically-stable motion planning for humanoid robots. In Proc. 1st Int. Conf. on Humanoid Robotics (Humanoids'00), Boston, MA, September 2000. [Abstract] [PDF]  
 
bullet S.Kagami, K. Nishiwaki, J.J. Kuffner, T. Sugihara, M. Inaba, and H. Inoue. Design, implementation, and remote operation of the humanoid H6. In Proc. IEEE/RSJ Int. Symposium on Experimental Robotics (ISER'00), Honolulu, HI, December 2000. [MoreInfo]  
 


1997 - 2009 © James Kuffner, Jr.