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Conference Papers Year : 2011

Multi-Contact Stances Planning for Multiple Agents


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



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⟩
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