Multi-contact Acyclic Motion Planning and Experiments on HRP-2 Humanoid

Abstract : We investigate the problem of planning sequences of contacts that support acyclic motion for a humanoid robot on uneven floors or in highly constrained environments. We propose a method that combines two basic techniques for motion generation: planning and optimization. The planning part is guided by a potential field function that grows a tree whose nodes are sets of possible contacts; the optimization part consists in a posture generator that checks the feasibility of contactsset candidates under constraints such as static stability, joint limits, non-desirable collisions, etc. The difference between successive nodes in the tree is exactly one contact (creation or removal). Our planner allows motion-supporting contacts to be made with any parts of each robot's links on any part of the environment: it can be seen as the generalization of motion in which walking is a particular case. Therefore, the meaning of obstacles is different from the classical usage in planning: any part of the environment is at the same time a potential support (for some parts of the robot) and an obstacle (for the remaining parts). We demonstrated our planner in various scenarios involving the HRP-2 humanoid robot and conducted several experiments.
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Chapitre d'ouvrage
Harada, Kensuke; Yoshida, Eiichi; Yokoi, Kazuhito. Motion Planning for Humanoid Robots, Springer London, pp.161-179, 2010, 978-1-84996-219-3. 〈10.1007/978-1-84996-220-9_6〉
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00800801
Contributeur : François Keith <>
Soumis le : jeudi 14 mars 2013 - 14:42:20
Dernière modification le : mercredi 4 avril 2018 - 08:30:02

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Adrien Escande, Abderrahmane Kheddar. Multi-contact Acyclic Motion Planning and Experiments on HRP-2 Humanoid. Harada, Kensuke; Yoshida, Eiichi; Yokoi, Kazuhito. Motion Planning for Humanoid Robots, Springer London, pp.161-179, 2010, 978-1-84996-219-3. 〈10.1007/978-1-84996-220-9_6〉. 〈lirmm-00800801〉

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