High Dimensional Planning and Visual Perception with a Humanoid robot

This talk will describe our ongoing research collaboration with NASA-JSC and the Valkyrie humanoid. I will start with some lessons learned from the DARPA Robotics Challenge (June 2015) and use it to motivate the research projects we are carrying out related to the robot. I'll finish by describing an algorithm for humanoid motion planning which demonstrated recent advances in dense stereo vision mapping (Kintinuous) with mixed integer optimization for footstep planning and navigation.