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Using a Multi-Objective Controller to Synthesize Simulated Humanoid Robot Motion with Changing Contact Configurations

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 : Our objective in this work is to synthesize dynamically consistent motion for a simulated humanoid robot in acyclic multi-contact locomotion using multi-objective control. We take as an input a planned sequence of static postures that represent the contact configuration transitions; a multi-objective controller then synthesizes the motion between these postures, the objectives of the controller being decided by a finite-state machine. Results of this approach are presented in the attached video in the form of playback motions generated through non-real-time constraint-based dynamic simulations.
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00765820
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Karim Bouyarmane, Abderrahmane Kheddar. Using a Multi-Objective Controller to Synthesize Simulated Humanoid Robot Motion with Changing Contact Configurations. IROS: Intelligent Robots and Systems, Sep 2011, San Francisco, CA, United States. pp.4414-4419, ⟨10.1109/IROS.2011.6094483⟩. ⟨lirmm-00765820⟩

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