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City Orlando / San Francisco / Lorne / Stockholm / SAMPLING / Robotics / / Company MIT Press / / Country Sweden / France / United States / Australia / / / Facility PQP library / Stanford University / R¨udiger Dillmann Institute of Computer Science / Iowa State University / Engineering University of Karlsruhe / / IndustryTerm guaranteed collision-free solution / free-bubble path validation algorithm / freespace generation algorithm / free bubble algorithm / path-validated algorithms / path planning algorithm / path validating algorithm / iterative diffusion algorithm / motion planning algorithm / real-time applications / real-time tasks / free bubble path validation algorithm / robotic systems / described planning algorithms / decomposition algorithms / valid solution / path search problems / kinematic chain / valid solutions / humanoid robotic systems / enlarged model path validation algorithm / / OperatingSystem Linux / / Organization Cambridge University / MIT / R¨udiger Dillmann Institute of Computer Science / Iowa State University / Collaborative Research Center / Stanford University / Computer Science and Engineering University of Karlsruhe / / Person Steve LaValle / Tamim Asfour / N. Ahuja / John F. Canny / James Kuffner / Moving Two-Hand / Yong K. Hwang / PACE D ISTANCE / / Position motion planner / RRT-EXTEND planner / purely sampling-based RRT planner / enlarged model planner / Planning System Planning Library Kinematic Chains Grasping Human Interaction Hands Platform Approaching Manipulation Arms Head / Fisher / Path planning / collision path planner / single-query bi-directional probabilistic roadmap planner / RRT planner / sampling-based planner / planner / RRT-planner / / ProgrammingLanguage R / / ProvinceOrState Victoria / California / / SportsLeague Stanford University / / Technology free bubble algorithm / Linux / free bubble path validation algorithm / path-validated algorithms / sampling-based RRT algorithm / proposed algorithms / RRT-based algorithms / path planning algorithm / free-bubble path validation algorithm / described planning algorithms / RRT-EXTEND algorithm / Jacobianbased freespace generation algorithm / planning algorithm / iterative diffusion algorithm / decomposition algorithms / motion planning algorithm / path validating algorithm / purely sampling-based algorithm / enlarged model path validation algorithm / RRT-CONNECT algorithm / CAD / using a Jacobianbased freespace generation algorithm / / URL http / SocialTag 
Efficient Motion Planning for Humanoid Robots using Lazy Collision Checking and Enlarged Robot Models Nikolaus Vahrenkamp, Tamim Asfour and R¨udiger Dillmann Institute of Computer Science and Engineering University of K