Name
Title | ||
|---|---|---|
A Hierarchical Framework For Realizing Dynamically-Stable Motions Of Humanoid Robot In Obstacle-Cluttered Environments |
Abstract | ||
|---|---|---|
We address in this paper a hierarchical framework for planning and simulating dynamic motions of humanoid robots in cluttered environments. The robot is aimed to realize a dynamic multi-step motion via a series of support (contact or grasp) configurations. In this framework, a global CoM (Center of Mass) trajectory is firstly generated which ensures the balance during the motion; the whole-body collision-free motion planning is then carried out locally for each transition phase between support configurations; finally the generated trajectories (CoM, end-effectors, joints) serve as control references for realizing the dynamic motion. This framework has been tested in a car-ingress scenario. |
Year | DOI | Venue |
|---|---|---|
2012 | 10.1109/HUMANOIDS.2012.6651622 | 2012 12TH IEEE-RAS INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS (HUMANOIDS) |
Keywords | Field | DocType |
motion control,end effectors,humanoid robots | Motion planning,Computer vision,Obstacle,Motion control,GRASP,Computer science,Simulation,Robot end effector,Artificial intelligence,Robot,Trajectory,Humanoid robot | Conference |
ISSN | Citations | PageRank |
2164-0572 | 4 | 0.43 |
References | Authors | |
12 | 4 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Zhaopeng Qiu | 1 | 6 | 0.82 |
| Adrien Escande | 2 | 273 | 22.91 |
| Alain Micaelli | 3 | 98 | 14.12 |
| Thomas Robert | 4 | 16 | 1.42 |