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Non-Decoupled Locomotion and Manipulation Planning for Low-Dimensional Systems

Karim Bouyarmane 1, 2 Abderrahmane Kheddar 3, 4
2 LARSEN - Lifelong Autonomy and interaction skills for Robots in a Sensing ENvironment
Inria Nancy - Grand Est, LORIA - AIS - Department of Complex Systems, Artificial Intelligence & Robotics
4 IDH - Interactive Digital Humans
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : We demonstrate the possibility of solving planning problems by inter-leaving locomotion and manipulation in a non-decoupled way. We choose three low-dimensional minimalistic robotic systems and use them to illustrate our paradigm: a basic one-legged locomotor, a two-link manipulator with a manipulated object, and a simultaneous locomotion-and-manipulation system. Using existing motion planning and control methods initially designed for either locomotion or manipulation tasks, we see how they apply to both our locomotion-only and manipulation-only systems through parallel derivations, and extend them to the simultaneous locomotion-and-manipulation system. Motion planning is solved for these three systems using two different methods : (i) a geometric path-planning-based one, and (ii) a kinematic control-theoretic-based one. Motion control is then derived by dynamically realizing the geometric paths or kinematic trajectories under the Couloumb friction model using torques as control inputs. All three methods apply successfully to all three systems, showing that the non-decoupled planning is possible.
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https://hal.archives-ouvertes.fr/hal-01523752
Contributor : Karim Bouyarmane <>
Submitted on : Tuesday, December 5, 2017 - 5:29:47 PM
Last modification on : Monday, September 2, 2019 - 1:52:03 PM

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Karim Bouyarmane, Abderrahmane Kheddar. Non-Decoupled Locomotion and Manipulation Planning for Low-Dimensional Systems. Journal of Intelligent and Robotic Systems, Springer Verlag, 2018, 91 (3-4), pp.377-401. ⟨10.1007/s10846-017-0692-5⟩. ⟨hal-01523752v2⟩

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