Cognetti, Marco and Mohammadi, Pouya and Oriolo, Giuseppe and Vendittelli, Marilena (2014) Task-oriented whole-body planning for humanoids based on hybrid motion generation. 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems. pp. 4071-4076. ISSN 2153-0858

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Abstract

This paper considers the problem of planning the motion of a humanoid robot that must execute a manipulation task, possibly requiring stepping, in environments cluttered by obstacles. The proposed method explores the submanifold of the configuration space that is admissible with respect to the assigned task and at the same time satisfies other constraints, including humanoid equilibrium. The exploration tree is expanded using a hybrid scheme that simultaneously generates footsteps and whole-body motions. The algorithm has been implemented for the humanoid robot NAO and validated through planning experiments and dynamic playback in V-REP.

Item Type:	Article
Keywords:	Task-Oriented; Whole-Body; Planning; Humanoids; Hybrid Motion Generation;
Academic Unit:	Faculty of Science and Engineering > Electronic Engineering Faculty of Science and Engineering > Research Institutes > Hamilton Institute
Item ID:	15342
Identification Number:	https://doi.org/10.1109/IROS.2014.6943135
Depositing User:	Marco Cognetti
Date Deposited:	25 Jan 2022 15:17
Journal or Publication Title:	2014 IEEE/RSJ International Conference on Intelligent Robots and Systems
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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