Planning contact points for humanoid robots - LIRMM - Laboratoire d’Informatique, de Robotique et de Microélectronique de Montpellier Access content directly
Journal Articles Robotics and Autonomous Systems Year : 2013

Planning contact points for humanoid robots


We present a planner for underactuated hyper-redundant robots, such as humanoid robots, for which the movement can only be initiated by taking contacts with the environment. We synthesize our previous work on the subject and go further into details to give an in-depth description of the contact planning problem and the mechanisms of our contact planner. We highlight the structure of the problem with a simple example, present the contact space and the heuristics we use for planning, and explain thoroughly the implementation of the different parts of the planner. Finally we give examples of planning results for complex scenarios with the humanoid robot HRP-2.
Fichier principal
Vignette du fichier
2013_ras_escande-planning_contact_points_for_humanoid_robots.pdf (1.46 Mo) Télécharger le fichier
Origin Files produced by the author(s)

Dates and versions

lirmm-00800829 , version 1 (28-03-2013)



Adrien Escande, Abderrahmane Kheddar, Sylvain Miossec. Planning contact points for humanoid robots. Robotics and Autonomous Systems, 2013, 61 (5), pp.428-442. ⟨10.1016/j.robot.2013.01.008⟩. ⟨lirmm-00800829⟩
314 View
1003 Download



Gmail Mastodon Facebook X LinkedIn More