Planning contact supports for acyclic motion with task constraints and experiment on HRP-2 - LIRMM - Laboratoire d’Informatique, de Robotique et de Microélectronique de Montpellier Access content directly
Conference Papers Year : 2009

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.

Dates and versions

lirmm-00796727 , version 1 (04-03-2013)

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Cite

Adrien Escande, Abderrahmane Kheddar. Planning contact supports for acyclic motion with task constraints and experiment on HRP-2. Syroco'09: 9th Symposium on Robot Control, Sep 2009, Nagaragawa Convention Center, Gifu, Japan. pp.155-160, ⟨10.3182/20090909-4-JP-2010.00028⟩. ⟨lirmm-00796727⟩
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