Paper Info
Title
Contact planning for acyclic motion with tasks constraints
Abstract
This paper extends our previous work on contact points planning in two ways. First, by taking advantage of the possibilities offered by our initial posture generator, we include additional tasks that are not related to locomotion within the planning. The output motion will be generated so as to cope with these tasks. Second, we refine the potential function that guides the planner by introducing potential fields acting each on a single body. This helps escaping local minima of the original potential field and thus to deal with more challenging scenarios. We then test these novelties on difficult problems with success, and experiment the output of one of the planned scenario on a HRP-2 humanoid robot.
Year
DOI
Venue
2009
10.1109/IROS.2009.5354371
IROS
Keywords
Field
DocType
hrp-2 humanoid robot,challenging scenario,initial posture generator,acyclic motion,potential field,potential function,difficult problem,contact planning,tasks constraint,output motion,additional task,original potential field,contact point,humanoid robot,glass,planning,trajectory,robots,motion control,generators,humanoid robots,local minima
Computer vision,Motion control,Computer science,Planner,Control engineering,Maxima and minima,Artificial intelligence,Robot,Potential field,Trajectory,Humanoid robot
Conference
Citations 
PageRank 
References 
12
0.69
11
Authors
2
Name
Order
Citations
PageRank
Adrien Escande127322.91
Abderrahmane Kheddar21191101.66