Whole-body motion planning for pivoting based manipulation by humanoids
This paper emphasizes on the capacity of a humanoid robot to perform tasks that are difficult for other types of robots. It deals with manipulation of bulky objects. Such tasks require complicated manipulations involving the whole-body and line coordination between legs, arms and torso motions. We i...
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| creator | Yoshida, E. Poirier, M. Laumond, J.-P. Kanoun, O. Lamiraux, F. Alami, R. Yokoi, K. |
| description | This paper emphasizes on the capacity of a humanoid robot to perform tasks that are difficult for other types of robots. It deals with manipulation of bulky objects. Such tasks require complicated manipulations involving the whole-body and line coordination between legs, arms and torso motions. We introduce here a whole-body motion planner that allows a humanoid robot to autonomously plan a pivoting strategy that accounts for the various constraints: collision avoidance, legs-arms coordination and stability control. Based on a previous result by the authors [1] proving the small-time controllability of a pivoting system, the planner is proven to inherit from the probabilistic completeness of the sampling- based motion planning method it is built on. The geometric and kinematic capacity of the proposed planner is mainly demonstrated through simulations and experiments. |
| doi_str_mv | 10.1109/ROBOT.2008.4543695 |
| format | Conference Proceeding |
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| identifier | ISSN: 1050-4729 |
| ispartof | 2008 IEEE International Conference on Robotics and Automation, 2008, p.3181-3186 |
| issn | 1050-4729 2577-087X |
| language | eng |
| recordid | cdi_ieee_primary_4543695 |
| source | IEEE Electronic Library (IEL) Conference Proceedings |
| subjects | Arm Collision avoidance Controllability Humanoid robots Leg Motion control Motion planning Robot kinematics Stability Torso |
| title | Whole-body motion planning for pivoting based manipulation by humanoids |
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