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Poster communications

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.
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Poster communications
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00796366
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Submitted on : Thursday, September 19, 2019 - 8:29:51 PM
Last modification on : Monday, February 10, 2020 - 6:12:35 PM
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Adrien Escande, Abderrahmane Kheddar. Contact Planning for Acyclic Motion with Task Constraints and Experiment on HRP-2 Humanoid. IROS: Intelligent Robots and Systems, Oct 2009, St. Louis, MO, United States. International Conference on Intelligent Robots and Systems, pp.416-417, 2009, ⟨10.1109/IROS.2009.5353971⟩. ⟨lirmm-00796366⟩

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