Exploring Humanoid Robot Locomotion Capabilities in Virtual Disaster Response Scenarios

Karim Bouyarmane 1, * Joris Vaillant 2 François Keith 3, 2 Abderrahmane Kheddar 3, 2
* Auteur correspondant
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.
Type de document :
Communication dans un congrès
Humanoids, Nov 2012, Osaka, Japan. 12th IEEE-RAS International Conference on Humanoid Robot, pp.337-342, 2012, <http://www.humanoidrobots.org/humanoids2012/>
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00765817
Contributeur : François Keith <>
Soumis le : dimanche 16 décembre 2012 - 23:35:24
Dernière modification le : vendredi 9 juin 2017 - 10:41:30
Document(s) archivé(s) le : dimanche 17 mars 2013 - 03:50:54

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Karim Bouyarmane, Joris Vaillant, François Keith, Abderrahmane Kheddar. Exploring Humanoid Robot Locomotion Capabilities in Virtual Disaster Response Scenarios. Humanoids, Nov 2012, Osaka, Japan. 12th IEEE-RAS International Conference on Humanoid Robot, pp.337-342, 2012, <http://www.humanoidrobots.org/humanoids2012/>. <lirmm-00765817>

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