Maxim Likhachev

Research Assistant Professor
Computer and Information Science
University of Pennsylvania

Motion Planning for Articulated Robotic Systems

The projects in this area are concerned with developing high-dimensional motion planners that generate feasible motion trajectories for articulated robotic systems in real-time. The challenge is to develop planners that can do it in real-time and at the same time provide theoretical guarantees on performance such as completeness.

Here are some of the projects my students and I have worked on previously or are working now:

• Mobile manipulation in cluttered spaces. For example, ICRA'10 paper. (joint project with Willow Garage)
• Fully autonomous door opening. For example, ICRA'10 paper. (joint project with Willow Garage)
• Motion planning for quadrupedal robots. ICRA'09 paper. (ex-project joint with D. Lee)

Planning with ARA* for autonomous door opening. Ongoing project with Willow Garage. Autonomous door opening movie.	Motion planning with ARA* for manipulation. Ongoing project with Willow Garage. PR2 movie.
Motion planning with ARA* for manipulation. Ongoing project with Willow Garage. movie of simulated robot.	Planning sequence of steps with R* for a robotic quadruped. movie.
Planning with ARA* for 6 DOF robot arm. movie.	Planning with ARA* for 20 DOF robot arm. movie.