Name
Abstract | ||
|---|---|---|
This paper presents improvements in contact-before-motion planning for humanoid robot's that enables to find a path in very coustrained environments. Starting from our previous work, the main novelties are to use a rough trajectory to drive the search and as a criterion to find new contacts and generate the best nodes first. This way only few nodes are effectively explored, speeding up the planning process. We experience the algorithm on the humanoid HRP-2 in a complex scenario. |
Year | DOI | Venue |
|---|---|---|
2008 | 10.1007/978-3-642-00196-3_35 | Springer Tracts in Advanced Robotics |
Keywords | Field | DocType |
humanoid robot,motion planning | Simulation,Control engineering,Planning process,Artificial intelligence,Engineering,Trajectory,Humanoid robot | Conference |
Volume | ISSN | Citations |
54 | 1610-7438 | 21 |
PageRank | References | Authors |
1.16 | 7 | 4 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Adrien Escande | 1 | 273 | 22.91 |
| Abderrahmane Kheddar | 2 | 1191 | 101.66 |
| Sfa Miossec | 3 | 173 | 14.21 |
| Sylvain Garsault | 4 | 21 | 1.16 |