Point-Cloud Multi-Contact Planning for Humanoids: Preliminary Results

Stanislas Brossette 1 Joris Vaillant 1 François Keith 2 Adrien Escande 1 Abderrahmane Kheddar 1, 2
2 IDH - Interactive Digital Humans
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : We present preliminary results in porting our multi-contact non-gaited motion planning framework to operate in real environments where the surroundings are acquired using an embedded camera together with a depth map sensor. We consider the robot to have no a priori knowledge of the environment, and propose a scheme to extract the information relevant for planning from an acquired point cloud. This yield the basis of an egocentric on-the-fly multi-contact planner. We then demonstrate its capacity with two simulation scenarios involving an HRP-2 robot in various environment before discussing some issues to be addressed in our quest to achieve a close loop between planning and execution in an environment explored through embedded sensors.
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Communication dans un congrès
CISRAM: Cybarnetics and Intelligent Systems Robotics, Automation and Mechatronics, Nov 2013, Manila & Pico de Loro Beach, Philippines. 1, 2013, 〈http://www.cis-ram.org/2013/〉
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00863931
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Soumis le : jeudi 19 septembre 2013 - 23:54:44
Dernière modification le : jeudi 26 octobre 2017 - 13:44:13
Document(s) archivé(s) le : vendredi 20 décembre 2013 - 16:55:45

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Stanislas Brossette, Joris Vaillant, François Keith, Adrien Escande, Abderrahmane Kheddar. Point-Cloud Multi-Contact Planning for Humanoids: Preliminary Results. CISRAM: Cybarnetics and Intelligent Systems Robotics, Automation and Mechatronics, Nov 2013, Manila & Pico de Loro Beach, Philippines. 1, 2013, 〈http://www.cis-ram.org/2013/〉. 〈lirmm-00863931〉

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