Sciweavers

Share
ICRA
2009
IEEE

Potential field guide for humanoid multicontacts acyclic motion planning

9 years 3 months ago
Potential field guide for humanoid multicontacts acyclic motion planning
Abstract—We present a motion planning algorithm that computes rough trajectories used by a contact-points planner as a guide to grow its search graph. We adapt collision-free motion planning algorithms to plan a path within the guide space, a submanifold of the configuration space included in the free space in which the configurations are subject to static stability constraint. We first discuss the definition of the guide space. Then we detail the different techniques and ideas involved: relevant C-space sampling for humanoid robot, task-driven projection process, static stability test based on polyhedral convex cones theory’s double description method. We finally present results from our implementation of the algorithm.
Karim Bouyarmane, Adrien Escande, Florent Lamiraux
Added 23 May 2010
Updated 23 May 2010
Type Conference
Year 2009
Where ICRA
Authors Karim Bouyarmane, Adrien Escande, Florent Lamiraux, Abderrahmane Kheddar
Comments (0)
books