Name
Abstract | ||
|---|---|---|
We present preliminary results in porting our multi-contact non-gaited motion planning framework to operate in real environments where the surroundings are acquired using an embedded camera together with a depth map sensor. We consider the robot to have no a priori knowledge of the environment, and propose a scheme to extract the information relevant for planning from an acquired point cloud. This yield the basis of an egocentric on-the-fly multi-contact planner. We then demonstrate its capacity with two simulation scenarios involving an HRP-2 robot in various environment before discussing some issues to be addressed in our quest to achieve a close loop between planning and execution in an environment explored through embedded sensors. |
Year | Venue | Keywords |
|---|---|---|
2013 | PROCEEDINGS OF THE 2013 6TH IEEE CONFERENCE ON ROBOTICS, AUTOMATION AND MECHATRONICS (RAM) | humanoid robots,path planning,image sensors |
Field | DocType | Citations |
A priori and a posteriori,Real-time computing,Control engineering,Artificial intelligence,Depth map,Humanoid robot,Motion planning,Computer vision,Image sensor,Porting,Engineering,Point cloud,Robot | Conference | 2 |
PageRank | References | Authors |
0.38 | 10 | 5 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Stanislas Brossette | 1 | 13 | 1.62 |
| Joris Vaillant | 2 | 56 | 3.30 |
| François Keith | 3 | 53 | 5.41 |
| Adrien Escande | 4 | 273 | 22.91 |
| Abderrahmane Kheddar | 5 | 1191 | 101.66 |