Paper Info
Title
Planning support contact-points for humanoid robots and experiments on HRP-2
Abstract
This paper deals with the motion planning of a poly- articulated robotic system for which support contact 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 manipulations, for a simple grasping task using the HRP-2 humanoid robot. I. I NTRODUCTION
Year
DOI
Venue
2006
10.1109/IROS.2006.282154
IROS
Keywords
Field
DocType
humanoid robots,manipulators,path planning,stability,HRP-2 humanoid robot,grasping task,humanoid robots,planning support contact-points,polyarticulated robotic system
Motion planning,Robotic systems,Computer vision,Robot control,Architecture,Computer science,Planner,Control engineering,Artificial intelligence,Modular design,Humanoid robot
Conference
Citations 
PageRank 
References 
23
1.54
6
Authors
3
Name
Order
Citations
PageRank
Adrien Escande127322.91
Abderrahmane Kheddar21191101.66
Sfa Miossec317314.21