Physics-Based Robot Motion Planning in Dynamic Multi-Body Environments

PhD Thesis, Stefan Zickler
2010, Computer Science Department, Carnegie Mellon University
Thesis Number: CMU-CS-10-115


Thesis Committee:

Manuela M Veloso, Chair
Jessica K. Hodgins
James J. Kuffner Jr.
John E. Laird, University of Michigan


Abstract:

Read the full abstract here


Document:

Download PDF (13MB)BibTeX


Videos:

Examples of Tactics-Driven Physics-Based Planning in Multiple Challenging Domains
[Watch at YouTube]  [Download MP4 (57MB)]


Comparison of Physics-Based Planning and Traditional Reactive Control in a One-vs-One Robot Soccer Domain
[Watch at YouTube]  [Download MP4 (58MB)]


Dribbling via Physics-Based Planning at RoboCup 2009
[Watch at YouTube]  [Download MP4 (7.4MB)]


Autonomous Physics-Based Planning in a Freely Configurable Robot Minigolf Domain
[Watch at YouTube]  [Download MP4 (57MB)]


Physics-Based Planning Examples in the Robot Minigolf Domain
[Watch at YouTube]  [Download MP4 (61MB)]