Skip to Main content Skip to Navigation
Conference papers

Multi-Contact Stances Planning for Multiple Agents

Karim Bouyarmane 1, 2 Abderrahmane Kheddar 1, 2 
1 IDH - Interactive Digital Humans
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
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.
Document type :
Conference papers
Complete list of metadata

Cited literature [20 references]  Display  Hide  Download
Contributor : François Keith Connect in order to contact the contributor
Submitted on : Thursday, January 17, 2013 - 10:33:42 PM
Last modification on : Friday, August 5, 2022 - 3:02:26 PM
Long-term archiving on: : Thursday, April 18, 2013 - 4:02:49 AM


Files produced by the author(s)




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⟩



Record views


Files downloads