Whole-Body Locomotion, Manipulation and Reaching for Humanoids

Authors:
Eiichi Yoshida;Jean-Paul Laumond;Claudia Esteves;Oussama Kanoun;Takeshi Sakaguchi;Kazuhito Yokoi
Affiliations:
AIST/ISRI-CNRS/STIC Joint French-Japanese Robotics Laboratory (JRL), National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba, Japan 305-8568;JRL, LAAS-CNRS, University of Toulouse, Toulouse, France 31077;Facultad de Matematicas, Universidad de Guanajuato, Mexico;JRL, LAAS-CNRS, University of Toulouse, Toulouse, France 31077;AIST/ISRI-CNRS/STIC Joint French-Japanese Robotics Laboratory (JRL), National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba, Japan 305-8568;AIST/ISRI-CNRS/STIC Joint French-Japanese Robotics Laboratory (JRL), National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba, Japan 305-8568
Venue:
Motion in Games
Year:
2008

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Abstract

This paper deals with motion planning and dynamic control for humanoid robots. The first part addresses simultaneous locomotion and manipulation planning while the second part deals with reaching tasks. The validity of the proposed methods is verified by experiments using humanoid platform HRP-2.