Robot Motion Planning
Robot Control: The Task Function Approach
Robot Control: The Task Function Approach
Potential field guide for humanoid multicontacts acyclic motion planning
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Task Sequencing for High-Level Sensor-Based Control
IEEE Transactions on Robotics
Testing Static Equilibrium for Legged Robots
IEEE Transactions on Robotics
Planning contact points for humanoid robots
Robotics and Autonomous Systems
Generation of whole-body optimal dynamic multi-contact motions
International Journal of Robotics Research
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This paper extends our previous work on contact points planning in two ways. First, by taking advantage of the possibilities offered by our initial posture generator, we include additional tasks that are not related to locomotion within the planning. The output motion will be generated so as to cope with these tasks. Second, we refine the potential function that guides the planner by introducing potential fields acting each on a single body. This helps escaping local minima of the original potential field and thus to deal with more challenging scenarios. We then test these novelties on difficult problems with success, and experiment the output of one of the planned scenario on a HRP-2 humanoid robot.