Planning contact supports for acyclic motion with task constraints and experiment on HRP-2

Adrien Escande 1 Abderrahmane Kheddar 2
2 IDH - Interactive Digital Humans
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
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.
Type de document :
Communication dans un congrès
Syroco'09: 9th Symposium on Robot Control, Sep 2009, Nagaragawa Convention Center, Gifu, Japan. pp.155-160, 2009, 〈http://www.syroco2009.org/〉. 〈10.3182/20090909-4-JP-2010.00028〉
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00796727
Contributeur : François Keith <>
Soumis le : lundi 4 mars 2013 - 22:46:11
Dernière modification le : jeudi 24 mai 2018 - 15:59:24

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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, 2009, 〈http://www.syroco2009.org/〉. 〈10.3182/20090909-4-JP-2010.00028〉. 〈lirmm-00796727〉

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