HUMANOID LOCOMOTION PLANNING FOR VISUALLY GUIDED TASKS

Humanoid Locomotion Planning for Visually Guided Tasks

*Centro de Investigaci on en Matem aticas, CIMAT, Jalisco s/n. Col. Valenciana, 36240 Guanajuato, Guanajuato, M exico Departamento de Matem aticas, Universidad de Guanajuato, Jalisco s/n. Col. Valenciana, 36240 Guanajuato, Guanajuato, M exico Robotics and Advanced Manufacturing Group, Centro de Investigaci on y de Estudios Avanzados del IPN, CINVESTAV, Saltillo, Coah, M exico §LAAS-CNRS, Labora...

Visually guided manipulation tasks

In this paper, we present a framework for a robotic system with the ability to perform real-world manipulation tasks. The complexity of such tasks determines the precision and freedoms controlled which also affects the robustness and the flexibility of the system. The aspect is on the development of visual system and visual tracking techniques in particular. Since precise tracking and control o...

Reactive Humanoid Motion Planning for Reaching Tasks

This paper addresses a reactive motion planning framework that allows a humanoid robot, supposedly teleoperated, to perform reaching tasks in complex environments with uncertainty like a damaged plant using measured information like voxel map or point clouds. Since sufficient reactiveness is required for smooth human operation, we have developed an efficient computation method to update the env...

Behavioral Dynamics of Visually-Guided Locomotion

Humanoid Robot Locomotion and Manipulation Step Planning

We aim at planning multi-contact sequences of stances and postures for humanoid robots. The output sequence defines the contact transitions that allow our robot to realize different kind of tasks, ranging from biped locomotion to dexterous manipulation. The central component of the planning framework is a best-first algorithm that performs a search of the contacts to be added or removed at each...