Contact Planning for Acyclic Motion with Task Constraints and Experiment on HRP-2 Humanoid - LIRMM - Laboratoire d’Informatique, de Robotique et de Microélectronique de Montpellier Access content directly
Conference Poster Year : 2009

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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lirmm-00796366 , version 1 (19-09-2019)

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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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