Skip to Main content Skip to Navigation
Conference papers

FEM-based Static Posture Planning for a Humanoid Robot on Deformable Contact Support

Karim Bouyarmane 1, * Abderrahmane Kheddar 2 
* Corresponding author
2 IDH - Interactive Digital Humans
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : In this paper we extend our previous work on solving the inverse kinematics problem for a humanoid robot in general multi-contact stances under physical limitations and static equilibrium constraints, to the case in which the contact is made on a non-rigid deformable environment support. We take a finite element approach to solve the static equilibrium equations for the system made of the robot and the deformable support within the linear elasticity model. Example simulation results show the humanoid robot HRP-2 taking contact support with hand or foot link on a deformable cube.
Document type :
Conference papers
Complete list of metadata

Cited literature [9 references]  Display  Hide  Download
Contributor : François Keith Connect in order to contact the contributor
Submitted on : Sunday, December 16, 2012 - 11:48:12 PM
Last modification on : Tuesday, September 6, 2022 - 5:00:23 PM
Long-term archiving on: : Sunday, March 17, 2013 - 3:50:56 AM


Files produced by the author(s)




Karim Bouyarmane, Abderrahmane Kheddar. FEM-based Static Posture Planning for a Humanoid Robot on Deformable Contact Support. Humanoids, Oct 2011, Bled, Slovenia. pp.487-492, ⟨10.1109/Humanoids.2011.6100848⟩. ⟨lirmm-00765818⟩



Record views


Files downloads