Whole-body motion planning for pivoting based manipulation by humanoids

This paper emphasizes on the capacity of a humanoid robot to perform tasks that are difficult for other types of robots. It deals with manipulation of bulky objects. Such tasks require complicated manipulations involving the whole-body and line coordination between legs, arms and torso motions. We i...

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Bibliographic Details
Published in2008 IEEE International Conference on Robotics and Automation pp. 3181 - 3186
Main Authors Yoshida, E., Poirier, M., Laumond, J.-P., Kanoun, O., Lamiraux, F., Alami, R., Yokoi, K.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.05.2008
Subjects
Arm
Collision avoidance
Controllability
Humanoid robots
Leg
Motion control
Motion planning
Robot kinematics
Stability
Torso
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ISBN1424416469
9781424416462
ISSN1050-4729
DOI10.1109/ROBOT.2008.4543695

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Summary:This paper emphasizes on the capacity of a humanoid robot to perform tasks that are difficult for other types of robots. It deals with manipulation of bulky objects. Such tasks require complicated manipulations involving the whole-body and line coordination between legs, arms and torso motions. We introduce here a whole-body motion planner that allows a humanoid robot to autonomously plan a pivoting strategy that accounts for the various constraints: collision avoidance, legs-arms coordination and stability control. Based on a previous result by the authors [1] proving the small-time controllability of a pivoting system, the planner is proven to inherit from the probabilistic completeness of the sampling- based motion planning method it is built on. The geometric and kinematic capacity of the proposed planner is mainly demonstrated through simulations and experiments.
ISBN:1424416469
9781424416462
ISSN:1050-4729
DOI:10.1109/ROBOT.2008.4543695