Planning Support Contact-Points for Acyclic Motions and Experiments on HRP-2

Adrien Escande 1 Abderrahmane Kheddar 2, 1 Sylvain Miossec 1 Sylvain Garsault 1
1 CNRS-AIST JRL - Joint Robotics Laboratory [France]
2 IDH - Interactive Digital Humans
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : This paper presents improvements in contact-before-motion planning for humanoid robots that enables to find a path in very constrained environments. Starting from our previous work, the main novelties are to use a rough trajectory to drive the search and as a criterion to find new contacts and generate the best nodes first. This way only few nodes are effectively explored, speeding up the planning process. We experience the algorithm on the real humanoid HRP-2 in a complex scenario.
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Adrien Escande, Abderrahmane Kheddar, Sylvain Miossec, Sylvain Garsault. Planning Support Contact-Points for Acyclic Motions and Experiments on HRP-2. ISER'08: 11th International Symposium on Experimental Robotics, Jul 2008, Athens, Greece. pp.293-302, ⟨10.1007/978-3-642-00196-3_35⟩. ⟨lirmm-00798815⟩

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