Planning support contact-points for humanoid robots and experiments on HRP-2

Adrien Escande; Abderrahmane Kheddar; Sylvain Miossec; IEEE

doi:10.1109/IROS.2006.282154

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Planning support contact-points for humanoid robots and experiments on HRP-2

Adrien Escande, Abderrahmane Kheddar, Sylvain Miossec et IEEE

2006 IEEE/RSJ International Conference on Intelligent Robots and Systems : Beijing, China, 9-13 October 2006, pp.2974-2979

10/2006

DOI: https://doi.org/10.1109/IROS.2006.282154

Résumé

Automation & Control Systems

Computer Science

Computer Science, Artificial Intelligence

Robotics

Science & Technology

Technology

This paper deals with the motion planning of a poly-articulated robotic system for which support contacts are allowed to occur between any part of the body and any part of the environment. Starting with a description of the environment and of a target, it computes a sequence of postures that allow our system to reach its target. We describe a very generic architecture of this planner, highly modular, as well as a first implementation of it. We then present our results, both simulations and real experiments, for a simple grasping task using the HRP-2 humanoid robot.

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Détails

Titre: Planning support contact-points for humanoid robots and experiments on HRP-2
Créateurs - sans rôle: Adrien Escande
Abderrahmane Kheddar
Sylvain Miossec
IEEE
Détails de publication: 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems : Beijing, China, 9-13 October 2006, pp.2974-2979
Éditeur: IEEE
Nombre de pages: 6
Identifiants: 99139226809311
Unité académique: Laboratoire d'Informatique de Robotique et de Microélectronique de Mtp - LIRMM
Langue: English
Type de ressource: Conference proceeding