?m4v7?%m%\%c%h$nj*bna':n$n$?$a$n%q%9%w%i%s%k%s%0k! Automating Object Manipulation Tasks for Humanoid Robots
نویسنده
چکیده
We present a manipulation path planner under development for providing high-level software control for humanoid robots. Using a graphical simulation environment, the software is designed to facilitate the automation of object grasping and manipulation tasks. Given a robot's internal model of the environment and a desired posture, we use a randomized path planner to search directly the conguration space of the robot for a collision-free manipulation path. The simulation environment can be used as a graphical user interface for directly controlling or interacting with a robot operating in the real world. We view this as a potential useful tool for the visualization and development of complex robotic systems, as well as an interactive, task-level programming interface.
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