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Conference papers
Planning contact supports for acyclic motion with task constraints and experiment on HRP-2
Abstract : With this paper we focus on one feature of our contact planner, namely the posture generation, that was under-used so far. We describe it carefully and show we can take advantage of the underlying optimization-based scheme to perform richer planning by the introduction of generic tasks that are not related to locomotion. We then apply with success the resulting improved planner to a challenging scenario and experiment its output plan on a HRP-2 humanoid robot.
https://hal-lirmm.ccsd.cnrs.fr/lirmm-00796727
Contributor : François Keith <>
Submitted on : Monday, March 4, 2013 - 10:46:11 PM
Last modification on : Monday, February 10, 2020 - 6:12:34 PM
Contributor : François Keith <>
Submitted on : Monday, March 4, 2013 - 10:46:11 PM
Last modification on : Monday, February 10, 2020 - 6:12:34 PM