Planning contact points for humanoid robots
Planning contact points for humanoid robots
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DOI：
10.1016/j.robot.2013.01.008
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发表时间：
2013-05-01
影响因子：
4.3
通讯作者：
Miossec, Sylvain
中科院分区：
文献类型：
--
作者：
Escande, Adrien;Kheddar, Abderrahmane;Miossec, Sylvain
我们提出了一个欠驱动的超冗余机器人的规划器，如人形机器人，其运动只能通过与环境接触来启动。我们综合了我们之前在这个主题上的工作，并进一步深入细节，对接触计划问题和我们的接触计划机制进行了深入的描述。我们用一个简单的例子来强调问题的结构，展示了我们用于规划的接触空间和启发式，并详细解释了规划器不同部分的实现。最后给出了仿人机器人HRP-2在复杂场景下的规划结果示例。(C) 2013 Elsevier B.V.版权所有
We present a planner for underactuated hyper-redundant robots, such as humanoid robots, for which the movement can only be initiated by taking contacts with the environment. We synthesize our previous work on the subject and go further into details to give an in-depth description of the contact planning problem and the mechanisms of our contact planner. We highlight the structure of the problem with a simple example, present the contact space and the heuristics we use for planning, and explain thoroughly the implementation of the different parts of the planner. Finally we give examples of planning results for complex scenarios with the humanoid robot HRP-2. (C) 2013 Elsevier B.V. All rights reserved.