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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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Submitted on : Thursday, September 19, 2013 - 11:54:44 PM
Last modification on : Friday, August 5, 2022 - 3:02:26 PM
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Stanislas Brossette, Joris Vaillant, François Keith, Adrien Escande, Abderrahmane Kheddar. Point-Cloud Multi-Contact Planning for Humanoids: Preliminary Results. RAM: Robotics, Automation and Mechatronics, Nov 2013, Manila, Philippines. pp.19-24, ⟨10.1109/RAM.2013.6758553⟩. ⟨lirmm-00863931⟩



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