Résumé
IEEE Robotics and Automation Letters 2021 (Presented at ICRA 2021) In this letter, we propose an efficient and highly versatile
loco-manipulation planning for humanoid robots. Loco-manipulation planning is a
key technological brick enabling humanoid robots to autonomously perform object
transportation by manipulating them. We formulate planning of the alternation
and sequencing of footsteps and grasps as a graph search problem with a new
transition model that allows for a flexible representation of
loco-manipulation. Our transition model is quickly evaluated by relocating and
switching the reachability maps depending on the motion of both the robot and
object. We evaluate our approach by applying it to loco-manipulation use-cases,
such as a bobbin rolling operation with regrasping, where the motion is
automatically planned by our framework.