Humanoid Locomotion Planning for Visually Guided Tasks
نویسندگان
چکیده
*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, Laboratoire d'Analyse et d'Architecture des Syst emes, Groupe Gepetto, 7, avenue du Colonel Roche, 31077 Toulouse Cedex 4, France CNRS-AIST, JRL (Joint Robotics Laboratory), UMI 3218/CRT, Intelligent Systems Research Institute, AIST Central 2, Umezono 1-1-1, Tsukuba, Ibaraki 305-8568 Japan ||[email protected] **[email protected] [email protected] [email protected] § §[email protected]
منابع مشابه
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...
متن کاملMotion Planning for Humanoid Robots: Highlights with HRP-2
In this paper we outlook current state of the art in the emerging research field of motion planning for humanoid robots. We will first introduce related research activities in several aspects of motion planning for humanoid robots, which include integration of dynamics and other 3D motion planning for wholebody motion and various tasks. We also mention locomotion planning and local whole-body d...
متن کاملDarmstadt Dribblers Team Description for Humanoid Kidsize League of Robocup 2010
This paper describes the hardware and software design of the kidsize humanoid robot systems of the Darmstadt Dribblers in 2010. The robots are used as a vehicle for research in control of locomotion and behavior of autonomous humanoid robots and robot teams with many degrees of freedom and many actuated joints. The Humanoid League of RoboCup provides an ideal testbed for such aspects of dynamic...
متن کاملPlanning contact supports for acyclic motion with task constraints and experiment on HRP-2
With this paper we focus on one feature of our contact planner, namely the posture generation, that was under-used so far. We describe it carefully and show we can take advantage of the underlying optimization-based scheme to perform richer planning by the introduction of generic tasks that are not related to locomotion. We then apply with success the resulting improved planner to a challenging...
متن کاملA Single-Planner Approach to Multi-Modal Humanoid Mobility
In this work, we present an approach to planning for humanoid mobility. Humanoid mobility is a challenging problem, as the configuration space for a humanoid robot is intractably large, especially if the robot is capable of performing many types of locomotion. For example, a humanoid robot may be able to perform such tasks as bipedal walking, crawling, and climbing. Our approach is to plan for ...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید
ثبت ناماگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید
ورودعنوان ژورنال:
- I. J. Humanoid Robotics
دوره 9 شماره
صفحات -
تاریخ انتشار 2012