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Communication Dans Un Congrès Année : 2011

A framework for manipulation and locomotion with realtime footstep replanning

Résumé

This paper focuses on realization of tasks with locomotion on humanoid robots. Locomotion and whole body movement are resolved as one unique problem. The same planner and controller are used for both stages of the movement. Final posture and footprint placements are found by resolving an optimization problem on the robot augmented by its footprints. Footstep replanning is done in realtime to correct perception and execution errors. The framework is demonstrated with the HRP-2 robot in a number of different scenarios.
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Dates et versions

hal-00697564 , version 1 (15-05-2012)

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Citer

Dang Duong, Florent Lamiraux, Jean-Paul Laumond. A framework for manipulation and locomotion with realtime footstep replanning. IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS 2011), Oct 2011, Bled, Slovenia. pp.676 - 681, ⟨10.1109/Humanoids.2011.6100889⟩. ⟨hal-00697564⟩
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