Planning Planning with the Drake Inverse Kinematic planner (with MIT Locomotion Group).
On-going collision-free motion planning combining local (trajectory optimization) with global (RRT sampling) methods:
Task-level Autonomy Integration
We recently created a new 3D textured model of Valkyrie and its now being used by NASA:
Integrated motion planning and autonomy with IHMC’s SCS simulator:
Task-level simulation demonstrating motion planning with the Valkyrie Robot:
Integration of IHMC Control API with MITDRC/Edinburgh Autonomy Interface (using the Atlas robot model):