Andreas Orthey
Email: | Andreas.Orthey |@| laas.fr | |
About
Research Areas and Interests
Publications
Under Review
- Orthey, Andreas and Roussel, Olivier and Stasse, Olivier and Ta{\"i}x and Michel
Irreducible Motion Planning by Exploiting Linear Linkage Structures. In Transactions on Robotics (T-RO), June 2015 (under review). (working paper or preprint). [ source-code ] [ hal-archive ] [ video ] - Andreas Orthey, Vladimir Ivan, Maximilien Naveau, Yiming Yang, Olivier Stasse and Sethu Vijayakumar
Homotopic Particle Motion Planning. In International Conference on Humanoid Robots, Seoul, Korea, 2015 (under review). [ source-code ] [ hal-archive ] [ video ]
- Orthey, Andreas and Roussel, Olivier and Stasse, Olivier and Ta{\"i}x and Michel
Conferences
- Andreas Orthey, Olivier Stasse and Florent Lamiraux
Motion Planning and Irreducible Trajectories. In International Conference on Robotics and Automation (ICRA), Seattle, WA, USA, 2015. [ hpp-module ] [ hal-archive ] - Olivier Stasse, Andreas Orthey, Francesco Morsillo, Mathieu Geisert, Nicolas Mansard, Maximilien Naveau and Christian Vassallo
Airbus/Future of Aircraft Factory, HRP-2 as Universal Worker Proof of Concept. In International Conference on Humanoid Robots (Humanoids), Video Session, 2014. - Andreas Orthey and Olivier Stasse
Towards Reactive Whole-Body Motion Planning in Cluttered Environments by Precomputing Feasible Motion Spaces. In International Conference on Humanoid Robots (Humanoids), Atlanta, GA, USA, 2013. [ hal-archive ] - Andreas Orthey, Marc Toussaint and Nikolay Jetchev
Optimizing Motion Primitives to Make Symbolic Models More Predictive. In International Conference on Robotics and Automation (ICRA), Karlsruhe, Germany, 2013.
- Andreas Orthey, Olivier Stasse and Florent Lamiraux
Book Chapters
- Dov Katz, Andreas Orthey and Oliver Brock
Interactive Perception of Articulated Objects. In Experimental Robotics, Springer Tracts in Advanced Robotics, 2014.
- Dov Katz, Andreas Orthey and Oliver Brock
Dissertation
- Andreas Orthey
Exploiting Structure in Humanoid Motion Planning, 2015. [ Video PhD defence ]
- Andreas Orthey
Videos
Irreducible Motion Planning (Whiteboard Video) |
HRP2 as Universal Worker (AIRBUS demonstration) |
Reactive Motion Planning |
Previous Research Areas
- Inverse Optimal Control and Symbolic Reasoning If we want to be successful on the symbolic planning level, what are the important underlying optimality criteria on the geometrical level?
Collaborated with: Tobias Lang, Marc Toussaint and Nikolay Jetchev- Optimizing Motion Primitives to Make Symbolic Models More Predictive. Andreas Orthey, Marc Toussaint and Nikolay Jetchev. In International Conference on Robotics and Automation (ICRA), Karlsruhe, Germany, 2013.
- Optimizing Motion Primitives to Integrate Symbolic and Motion Planning. Andreas Orthey. Master Thesis, 2012.
- Interactive Perception Interacting with the environment to detect object structures. My work here was focused on the problem of extracting relative motion and doing motion classification for prismatic and revolute joint types
Collaborated with: Dov Katz and Oliver Brock- Interactive Perception of Articulated Objects. Dov Katz, Andreas Orthey and Oliver Brock. In 12th International Symposium on Experimental Robotics, Delhi, India, December 2010.
- 3D Joint Detection. Andreas Orthey. Bachelor Thesis, 2010.
Software
- Path Planner for sliding humanoid robot: https://github.com/orthez/mpp-path-planner
- Business Cards/Visitcards Creator: https://github.com/orthez/latex-visit-cards
- Unix dotfiles: https://github.com/orthez/dotfiles