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| HAL : hal-00697564, version 1 |
| DOI : 10.1109/Humanoids.2011.6100889 |
| Fiche détaillée |  Récupérer au format |
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| IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS 2011), Bled : Slovénie (2011) |
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| A framework for manipulation and locomotion with realtime footstep replanning |
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| Dang Duong 1Florent Lamiraux 1 |
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| (2011) |
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| 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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| 1 : | Laboratoire d'analyse et d'architecture des systèmes (LAAS) |
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CNRS : UPR8001 – Université Paul Sabatier [UPS] - Toulouse III – Institut National Polytechnique de Toulouse - INPT – Institut National des Sciences Appliquées (INSA) - Toulouse |
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| LAAS-GEPETTO |
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| Domaine | : | Informatique/Robotique |
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| hal-00697564, version 1 | |
| http://hal.archives-ouvertes.fr/hal-00697564 | |
| oai:hal.archives-ouvertes.fr:hal-00697564 | |
| Contributeur : Olivier Stasse | |
| Soumis le : Mardi 15 Mai 2012, 16:18:42 | |
| Dernière modification le : Vendredi 19 Octobre 2012, 16:42:13 | |
