Current Projects

	Golem Krang Development of a Wheeled Humanoid Robot to study whole-body planning and control. more »		Golem Hubo Whole-body bipedal huanoid to study locomotion and manipulation. more »
	Navigation Among Movable Obstacles (NAMO) Autonomous robots that move obstacles out of their way. Now including perception, planning and action. more »		Motion Grammar Language-based approach to perception and control that provably guarantees task execution. more »
	Ach: Inter-Process Communication Ach is our efficient channel-based IPC with provable guarantees on performance. more »		Learning and Planning Task-Level Motion Optimization strategies for acquiring and achieving table-top tasks. more »
	Whole-Body Dynamic Motion Optimization with feedback linearization generates emergent whole-body navigation behaviors. more »		Whole-Body Manipulation of Environment Objects Analytical and experimental study of pushing manipulation using internal forces and mechanical advantage. more »

Other Projects

	Paths to Trajectories Generating optimized trajectories that closely follow kinematic paths. more »		CONAN: Contact Anticipator Human motion anticipation and response through game-theoretic multi-step planning. more »
	Mixed Palletizing Optimized Planning with industrial applications to product distribution. more »