Potential field guide for humanoid multicontacts acyclic motion planning

Authors:
Karim Bouyarmane;Adrien Escande;Florent Lamiraux;Abderrahmane Kheddar
Affiliations:
CNRS, UM2 LIRMM, France and CNRS, AIST JRL, Japan;CEA LIST, France and CNRS-AIST JRL, Japan;CNRS LAAS, France and CNRS-AIST JRL, Japan;CNRS, UM2 LIRMM, France and CNRS, AIST JRL, Japan
Venue:
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Year:
2009

Citing 2
Cited 5

OBPRM: an obstacle-based PRM for 3D workspaces

WAFR '98 Proceedings of the third workshop on the algorithmic foundations of robotics on Robotics : the algorithmic perspective: the algorithmic perspective
Planning Algorithms

Planning Algorithms

Contact planning for acyclic motion with task constraints and experiment on HRP-2 humanoid

IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Contact planning for acyclic motion with tasks constraints

IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Contact-invariant optimization for hand manipulation

EUROSCA'12 Proceedings of the 11th ACM SIGGRAPH / Eurographics conference on Computer Animation
Contact-invariant optimization for hand manipulation

Proceedings of the ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Generation of whole-body optimal dynamic multi-contact motions

International Journal of Robotics Research

Quantified Score

Hi-index	0.00

Visualization

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.