Contact planning for acyclic motion with tasks constraints

Abstract : This paper extends our previous work on contact points planning in two ways. First, by taking advantage of the possibilities offered by our initial posture generator, we include additional tasks that are not related to locomotion within the planning. The output motion will be generated so as to cope with these tasks. Second, we refine the potential function that guides the planner by introducing potential fields acting each on a single body. This helps escaping local minima of the original potential field and thus to deal with more challenging scenarios. We then test these novelties on difficult problems with success, and experiment the output of one of the planned scenario on a HRP-2 humanoid robot.
Keywords : motion control robots
Type de document :
Communication dans un congrès
IROS: International Conference on Intelligent Robots and Systems, Oct 2009, St. Louis, MO, United States. pp.435-440, 2009, 〈10.1109/IROS.2009.5354371〉
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00796364
Contributeur : François Keith <>
Soumis le : dimanche 3 mars 2013 - 23:43:24
Dernière modification le : jeudi 11 janvier 2018 - 06:27:07

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Adrien Escande, Abderrahmane Kheddar. Contact planning for acyclic motion with tasks constraints. IROS: International Conference on Intelligent Robots and Systems, Oct 2009, St. Louis, MO, United States. pp.435-440, 2009, 〈10.1109/IROS.2009.5354371〉. 〈lirmm-00796364〉

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