Contact planning for acyclic motion with tasks constraints

2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009

Volumn , Issue , 2009, Pages 435-440

  Escande, Adrien ^a   Kheddar, Abderrahmane ^b,c  

^a INSTITUT DE RADIOPROTECTION ET DE SÛRETÉ NUCLÉAIRE   (France)

^b CNRS   (France)

^c NATIONAL INSTITUTE OF ADVANCED INDUSTRIAL SCIENCE AND TECHNOLOGY AIST   (Japan)

Author keywords

[No Author keywords available]

Indexed keywords

CONTACT POINTS; HUMANOID ROBOT; LOCAL MINIMUMS; OUTPUT MOTION; POTENTIAL FIELD; POTENTIAL FUNCTION;

ANTHROPOMORPHIC ROBOTS; INTELLIGENT ROBOTS;

PLANNING;

EID: 76249111209     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2009.5354371     Document Type: Conference Paper

References (16)

1. K. Harada, H. Hirukawa, F. Kanehiro, K. Fujiwara, K. Kaneko, S. Kajita, and M. Nakamura, "Dynamical balance of a humanoid robot grasping and environment," in IEEE International Conference on Robotics and Automation, New Orleans, LA, April 2004, pp. 1167-1173.
2. K. Hauser, T. Bretl, and J.-C. Latombe, "Non-gaited humanoid locomotion planning," in IEEE/RSJ International Conference on Humanoid Robots, December 5-7 2005, pp. 7-12.
3. K. Hauser, T. Bretl, K. Harada, and J.-C. Latombe, "Using motion primitives in probabilistic sample-based planning for humanoid robots," in Workshop on the Algorithmic Foundations of Robotics, 2006.
4. A. Escande, A. Kheddar, and S. Miossec, "Planning support contact-points for humanoid robots and experiments on HRP-2," in IEEE/RSJ International Conference on Robots and Intelligent Systems, Beijing, China, October 2006, pp. 2974-2979.
5. A. Escande, A. Kheddar, S. Miossec, and S. Garsault, "Planning support contact-points for acyclic motion and experiments on HRP-2," in International Symposium of Experimental Robotics, 2008.
6. A. Kheddar and A. Escande, "Challenges in contact-support planning for acyclic motion of humanoids and androids," in International Symposium on Robotics, 2008.
7. S. Miossec, K. Yokoi, and A. Kheddar, "Development of a software for motion optimization of robots - application to the kick motion of the HRP-2 robot," in IEEE International Conference on Robotics and Biomimetics, 2006.
8. N. Mansard and F. Chaumette, "Task sequencing for sensor-based control," IEEE Transactions on Robotics, vol. 23, no. 1, pp. 60-72, February 2007.
9. O. Khatib, L. Sentis, and J.-H. Park, "A unified framework for whole-body humanoid robot control with multiple constraints and contacts," in European Robotics Symposium (EURON), ser. STAR Series, S. T. in Advanced Robotics, Ed., Prague, Czech Republic, March 2008. 2008.
10. J.-C. Latombe, Robot motion planning. Boston-Dordrecht-London: Kluwer Academic Publishers, 1991.
11. K. Bouyarmane, A. Escande, F. Lamiraux, and A. Kheddar, "Potential field guide for humanoid multicontacts acyclic motion planning," in IEEE International Conference on Robotics and Automation, Kobe, Japan, 12-17 May 2009.
12. T. Bretl and S. Lall, "Testing static equilibrium for legged robots," IEEE Transactions on Robotics, vol. 24, pp. 794-807, August 2008.
13. C. Lawrence, J. L. Zhou, and A. L. Tits, "User's guide for CFSQP version 2.5: A C code for solving (large scale) constrained nonlinear (minimax) optimization problems, generating iterates satisfying all inequality constraints," 1997.
14. M. Stilman, "Task constrained motion planning in robot joint space," in IEEE/RSJ International Conference on Robots and Intelligent Systems, 2007.
15. J. Cortés, "Motion planning algorithms for general closed-chain mechanisms," Ph.D. dissertation, 2003.
16. C. Samson, M. Le Borgne, and B. Espiau, Robot Control: the Task Function Approach. Clarendon Press, Oxford, United Kingdom, 1991.