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Multi-contacts stances planning for humanoid locomotion and manipulation

Karim Bouyarmane 1, 2 Abderrahmane Kheddar 2, 1
1 IDH - Interactive Digital Humans
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : We present an algorithm that plans a sequence of multi-contacts stances in order to solve the locomotion and manipulation planning problems for humanoid robots and equivalently for dexterous hands. The algorithm uses a Best-First planning approach to explore the stances space and relies on an inverse statics stance solver to generate postures in the configuration space of the system realizing a given stance. Results show that locomotion and manipulation motion planning problems can be solved within the same framework in a unified way.
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Karim Bouyarmane, Abderrahmane Kheddar. Multi-contacts stances planning for humanoid locomotion and manipulation. RSJ'10: 28th annual conference of the Robotics Society of Japan, Sep 2010, Nagoya, Japan. ⟨lirmm-00800868⟩

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