Multi-Contact Stances Planning for Multiple Agents - LIRMM - Laboratoire d’Informatique, de Robotique et de Microélectronique de Montpellier Access content directly
Conference Papers Year : 2011

Multi-Contact Stances Planning for Multiple Agents

Abstract

We propose a generalized framework together with an algorithm to plan a discrete sequence of multi-contact stances that brings a set of collaborating robots and manipulated objects from a specified initial configuration to a desired goal through non-gaited acyclic contacts with their environment or among each other. The broad range of applications of this generic algorithm includes legged locomotion planning, whole-body manipulation planning, dexterous manipulation planning, as well as any multi-contact-based motion planning problem that might combine several of these sub-problems. We demonstrate the versatility of our planner through example scenarios taken from the aforementioned classes of problems in virtual environments.
Fichier principal
Vignette du fichier
2011_icra_bouyarmane-multi_contact.pdf (934.06 Ko) Télécharger le fichier
Origin : Files produced by the author(s)
Loading...

Dates and versions

lirmm-00777727 , version 1 (17-01-2013)

Identifiers

Cite

Karim Bouyarmane, Abderrahmane Kheddar. Multi-Contact Stances Planning for Multiple Agents. ICRA'2011: International Conference on Robotics and Automation, May 2011, Shanghai International Conference Center, Shanghai, China. pp.5246-5253, ⟨10.1109/ICRA.2011.5980088⟩. ⟨lirmm-00777727⟩
133 View
371 Download

Altmetric

Share

Gmail Facebook X LinkedIn More