Home
Stanford
Robotics Lab
CS Dept

RESEARCH

PUBLICATIONS

SOFTWARE

GALLERY

ACM

TEACHING

RESUME

PERSONAL

JAPAN

LINKS

Graphical Simulation and Motion Planning for Humanoid Robots

OVERVIEW SIMULATION MOTION PLANNING PERCEPTION LINKS

Project Overview

The web page describes our current efforts toward 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.

NOTE: I have received many requests regarding the availability of my software, which runs under both RedHat Linux and SGI Irix 6.x. Currently, I am cleaning up the code and fixing some minor bugs, but I plan to release the source code under the GNU Public Licence in the near future. Please check back again soon. -James



Graphical Simulation Motion Planning Perception-Based Control

Hardware Platforms



COMING SOON:

Humanoid "H5" (japanese)
(127 cm, 33 kg, 30 DOF)
Humanoid "H6"
(137 cm, 55 kg, 35 DOF)
Humanoid "H7"

Selected Papers

Videos


Click the above image to download a movie clip of experiments with the H6 humanoid robot
(Warning! file size = 12 MB)


James Kuffner
Last modified: Wed Nov 15 23:08:59 2000