Ferrari, Paolo and Cognetti, Marco and Oriolo, Giuseppe (2017) Humanoid whole-body planning for loco-manipulation tasks. 2017 IEEE International Conference on Robotics and Automation (ICRA). pp. 4741-4746.

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Abstract

We consider the problem of planning whole-body motions for humanoids that must execute loco-manipulation tasks, i.e., manipulation tasks that implicitly require a locomotion phase. The proposed planner builds a tree in configuration-time space by concatenating feasible, collision-free whole-body motions that realize a succession of CoM movement primitives and, at the same time, the assigned manipulation task. To obtain fluid, natural motions we identify three zones of operation, i.e, locomotion, loco-manipulation and manipulation, and we carefully design a mechanism that allows to synchronize the two tasks. The proposed method has been implemented in V-REP for the NAO humanoid and successfully tested in various scenarios of increasing complexity.

Item Type:	Article
Keywords:	Humanoid; Whole-Body; Planning; Loco-Manipulation; Tasks;
Academic Unit:	Faculty of Science and Engineering > Electronic Engineering Faculty of Science and Engineering > Research Institutes > Hamilton Institute
Item ID:	15335
Identification Number:	https://doi.org/10.1109/ICRA.2017.7989550
Depositing User:	Marco Cognetti
Date Deposited:	24 Jan 2022 17:04
Journal or Publication Title:	2017 IEEE International Conference on Robotics and Automation (ICRA)
Publisher:	IEEE
Refereed:	Yes
URI:	Publisher
Use Licence:	This item is available under a Creative Commons Attribution Non Commercial Share Alike Licence (CC BY-NC-SA). Details of this licence are available here

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