Paper Info
Title
Cable Installation by a Humanoid Integrating Dual-arm Manipulation and Walking
Abstract
In this paper, we present a four layers hierarchical framework to complete the cable installation task with a humanoid robot. By decoupling task planning layer and motion planning layer, flexibility of the framework is revealed. After symbolic relational representation and planning method is used in task planning layer, the planning result is then mapped to primitive manipulation action sequence in motion planning layer. By integrating position detection of operating points and humanoid walking, installation of a long cable on two industrial clamps with a certain distance was completed by humanoid robot HRP-2Kai.
Year
DOI
Venue
2019
10.1109/SII.2019.8700448
2019 IEEE/SICE International Symposium on System Integration (SII)
Keywords
Field
DocType
Planning,Task analysis,Clamps,Humanoid robots,Grippers,Grasping
Motion planning,Task analysis,Decoupling (cosmology),Control engineering,Manipulation - action,Engineering,Grippers,Humanoid robot
Conference
ISSN
ISBN
Citations 
2474-2317
978-1-5386-3615-2
0
PageRank 
References 
Authors
0.34
0
3
Name
Order
Citations
PageRank
Yili Qin100.68
Adrien Escande227322.91
Eiichi Yoshida352259.13