Planning support contact-points for humanoid robots and experiments on HRP-2

This paper deals with the motion planning of a polyarticulated robotic system for which support contacts are allowed to occur between any part of the body and any part of the environment. Starting with a description of the environment and of a target, it computes a sequence of postures that allow ou...

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Bibliographic Details
Published in2006 IEEE/RSJ International Conference on Intelligent Robots and Systems pp. 2974 - 2979
Main Authors Escande, A., Kheddar, A., Miossec, S.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.10.2006
Subjects
Animation
Computational modeling
Computer architecture
Humanoid robots
Humans
Intelligent robots
Motion planning
Orbital robotics
Path planning
Stability
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Summary:This paper deals with the motion planning of a polyarticulated robotic system for which support contacts are allowed to occur between any part of the body and any part of the environment. Starting with a description of the environment and of a target, it computes a sequence of postures that allow our system to reach its target. We describe a very generic architecture of this planner, highly modular, as well as a first implementation of it. We then present our results, both simulations and real experiments, for a simple grasping task using the HRP-2 humanoid robot
ISBN:9781424402588
1424402581
ISSN:2153-0858
2153-0866
DOI:10.1109/IROS.2006.282154