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    Whole-body planning for humanoids along deformable tasks


    Cognetti, Marco and Fioretti, Valentino and Oriolo, Giuseppe (2016) Whole-body planning for humanoids along deformable tasks. 2016 IEEE International Conference on Robotics and Automation (ICRA). pp. 1615-1620.

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    Abstract

    This paper addresses the problem of generating whole-body motions for a humanoid robot that must execute a certain task in an environment containing obstacles. The assigned task trajectory is deformable, and the planner may exploit this feature for finding a solution. Our framework consists of two main components: a constrained motion planner and a deformation mechanism. The basic idea is that the constrained motion planner attempts to solve the problem for the original task. If this proves to be too difficult, the deformation mechanism modifies the task using appropriate heuristic functions. Then, the constrained motion planner is invoked again on the deformed task. If needed, this procedure is iterated. The proposed algorithm has been successfully implemented for the NAO humanoid in V-REP.

    Item Type: Article
    Keywords: Whole-Body; Planning; Humanoids; Deformable Tasks;
    Academic Unit: Faculty of Science and Engineering > Electronic Engineering
    Faculty of Science and Engineering > Research Institutes > Hamilton Institute
    Item ID: 15339
    Identification Number: https://doi.org/10.1109/ICRA.2016.7487301
    Depositing User: Marco Cognetti
    Date Deposited: 25 Jan 2022 15:02
    Journal or Publication Title: 2016 IEEE International Conference on Robotics and Automation (ICRA)
    Publisher: IEEE
    Refereed: Yes
    URI:

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