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[Lab image] Planning and Autonomy Lab
Head: James Kuffner
Contact: James Kuffner (kuffner@cs.cmu.edu)

Mailing address:
Carnegie Mellon University
Robotics Institute
5000 Forbes Avenue
Pittsburgh, PA 15213

Associated center: CFR

For more information, see this lab's homepage.

Jump to: Lab Description | Personnel | Projects | Publications

Lab Description

We are interested in motion planning, perception, and control for autonomous humanoid robots, quadrupeds, mobile manipulators and UAVs. Our core research involves developing efficient new techniques for navigation planning, footstep planning, autonomous grasping and manipulation planning, trajectory planning with dynamic constraints, and integrated perception and planning.

Personnel [Past members]

Name Title Email Address
Dmitry Berenson PhD Student, RI dberenso+@cs.cmu.edu
Rosen Diankov Graduate Student, CS rdiankov@cmu.edu
Myung Hwangbo PhD Student, RI myung@andrew.cmu.edu
Satoshi Kagami Visiting Faculty s.kagami@aist.go.jp
James's personal homepage James Kuffner Associate Professor kuffner@cs.cmu.edu
Manfred Lau PhD Student, CS mlau@cs.cmu.edu
Matthew's personal homepage Matthew Zucker PhD Student, RI mzucker@andrew.cmu.edu

Current Projects

Active Home/Personal Robotics - Creating a robot to help with tasks in the home.
Behavior Planning for Character Animation - We are exploring a behavior planning approach to automatically generate realistic motions for animated characters.
Footstep Planning for Biped Robots - Navigation strategies for bipeds through complex environments, planning for the full capabilities of the biped.
GPU-accelerated Computer Vision - We are exploiting programmable graphics hardware to improve existing vision algorithms and enable novel approaches to robot perception.
Learning Locomotion - Robust planning and control of the quadruped robot "Little Dog" to traverse rough terrain (DARPA sponsored).
Navigation Among Movable Obstacles - Autonomous motion planning and control for robots working in reconfigurable environments.
Perception for Humanoid Robots - Real-time perception algorithms for autonomous humanoid navigation, manipulation and interaction.
Planning for Manipulation - Developing algorithms for autonomous manipulation.
Precomputed Search Trees: Planning for Interactive Goal-Driven Animation - We present a novel approach for interactively synthesizing motions for characters navigating in complex environments.
Quality of Life Technology Center - QoLT is a unique partnership between Carnegie Mellon and the University of Pittsburgh that brings together a cross-disciplinary team of technologists, clinicians, industry partners, end users, and other stakeholders to create revolutionary technologies that will improve and sustain the quality of life for all people.

Recent publications [View all 47 publications]

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