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
Contributeur : François Keith
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Soumis le : lundi 4 mars 2013 - 22:46:11
Dernière modification le : jeudi 24 mai 2018 - 15:59:24
