Skip to Main content Skip to Navigation
Conference papers

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.
Document type :
Conference papers
Complete list of metadatas

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

Links full text

Identifiers

Collections

Citation

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⟩

Share

Metrics

Record views

275