Contact Planning for Acyclic Motion with Task Constraints and Experiment on HRP-2 Humanoid

Abstract : This video illustrates our work on contact points planning and its recent enhancement by two new functionalities. First, by taking advantage of the possibilities offered by our initial posture generator, we include additional tasks in the planning that are not related to locomotion. Second, we refine the potential function that guides the planner so as to cope 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.
Type de document :
Poster
IROS: International Conference on Intelligent Robots and Systems, Oct 2009, St. Louis, MO, United States. pp.416-417, 2009, 〈10.1109/IROS.2009.5353971〉
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00796366
Contributeur : François Keith <>
Soumis le : dimanche 3 mars 2013 - 23:47:55
Dernière modification le : lundi 24 septembre 2018 - 11:34:02

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Adrien Escande, Abderrahmane Kheddar. Contact Planning for Acyclic Motion with Task Constraints and Experiment on HRP-2 Humanoid. IROS: International Conference on Intelligent Robots and Systems, Oct 2009, St. Louis, MO, United States. pp.416-417, 2009, 〈10.1109/IROS.2009.5353971〉. 〈lirmm-00796366〉

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