Research Interests
- Robot motion planning
- Assembly planning and tolerancing
- Detection of (self-)collisions for flexible and deformable
objects (robots, proteins, thread, tissue, etc.)
- Efficient potential energy maintenance for MC simulation of proteins
- Approximation of protein structure for fast similarity measures
Publications
Software
- MPK - The Motion
Planning Kit
MPK is a C++ library / toolbox for
developing and testing robot motion planners. The special focus
of MPK is a new efficient dynamic collision checker that is also
described in one of my papers. This collision checker
automatically and dynamically adapts the necessary
spatio-temporal sampling resolution of the motions and is thus
guaranteed not to miss any collisions. The package is free for
academic and non-commercial use.
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