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Exploring Humanoid Robot Locomotion Capabilities in Virtual Disaster Response Scenarios

Karim Bouyarmane 1, * Joris Vaillant 2 François Keith 3, 2 Abderrahmane Kheddar 3, 2 
* Corresponding author
3 IDH - Interactive Digital Humans
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : We study the feasibility of having various humanoid robots undertake some tasks from those challenged by the DARPA's call on disaster operations. Hence, we focus on locomotion tasks that apparently require human-like motor skills to be achieved. We use virtual scenes under the fully-3D-modeled-environment assumption. The robot autonomously plans and executes the motion with a high-level goal specification, such as reaching a global position or a particular contact state. We assess the feasibility according not only to the robot kinematics, but also to whole-body dynamics, non-desired collision avoidance, friction limits, and actuation limits. The results --the controlled motions-- are demonstrated in the accompanying video.
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Submitted on : Sunday, December 16, 2012 - 11:35:24 PM
Last modification on : Friday, August 5, 2022 - 3:02:26 PM
Long-term archiving on: : Sunday, March 17, 2013 - 3:50:54 AM


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  • HAL Id : lirmm-00765817, version 1



Karim Bouyarmane, Joris Vaillant, François Keith, Abderrahmane Kheddar. Exploring Humanoid Robot Locomotion Capabilities in Virtual Disaster Response Scenarios. Humanoids, Nov 2012, Osaka, Japan. pp.337-342. ⟨lirmm-00765817⟩



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