Humanoid Loco-Manipulation Planning Based on Graph Search and Reachability Maps

In this letter, we propose an efficient and highly versatile loco-manipulation planning for humanoid robots. Loco-manipulation planning is a key technological brick enabling humanoid robots to autonomously perform object transportation by manipulating them. We formulate planning of the alternation a...

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Veröffentlicht in:	IEEE robotics and automation letters 2021-04, Vol.6 (2), p.1840-1847
Hauptverfasser:	Murooka, Masaki, Kumagai, Iori, Morisawa, Mitsuharu, Kanehiro, Fumio, Kheddar, Abderrahmane
Format:	Artikel
Sprache:	eng
Schlagworte:	Computer Science Humanoid Humanoid and bipedal locomotion Humanoid robots Indexes manipulation planning multi-contact whole-body motion planning and control Planning Robot dynamics Robotics Robots Search problems Spools Switches Task analysis
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