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| HAL : lirmm-00433040, version 1 |
| Fiche détaillée |  Récupérer au format |
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| 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, (2009) |
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| Planning and Fast Re-Planning of Safe Motions for Humanoid Robots: Application to a Kicking Motion |
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| Sebastien Lengagne 1, 2Nacim Ramdani 1 |
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| (15/10/2009) |
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| Optimal motions are usually used as joint reference trajectories for repetitive or complex motions. In the case of soccer robots, the kicking motion is usually a benchmark motion, computed off-line, without taking into account the current position of the robot or the direction of the goal. Moreover, robots must react quickly to any situation, even if not expected, and cannot spend time to generate a new optimal motion by the classical way. Therefore, we propose a new method for fast motion re-planning based on an off-line computation of a feasible sub-set of the motion parameters, using Interval Analysis. |
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| 1 : | Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM) |
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CNRS : UMR5506 – Université Montpellier II - Sciences et Techniques du Languedoc |
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| 2 : | DEMAR (INRIA Sophia Antipolis) |
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INRIA – CNRS : UMR5506 – Université Montpellier II - Sciences et Techniques du Languedoc – Université Montpellier I |
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| [ROB-MIC/DEMAR : DEambulation et Mouvement ARtificiel] |
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| Domaine | : | Informatique/Robotique |
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| Liste des fichiers attachés à ce document : | |||||
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| lirmm-00433040, version 1 | |
| http://hal-lirmm.ccsd.cnrs.fr/lirmm-00433040 | |
| oai:hal-lirmm.ccsd.cnrs.fr:lirmm-00433040 | |
| Contributeur : Sebastien Lengagne | |
| Soumis le : Mercredi 18 Novembre 2009, 07:38:31 | |
| Dernière modification le : Jeudi 19 Novembre 2009, 10:37:18 | |
