Manipulation of documented objects by a walking humanoid robot
Manipulation of documented objects by a walking humanoid robot
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DOI：
10.1109/ichr.2010.5686827
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发表时间：
2010-12
期刊：
影响因子：
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通讯作者：
S. Dalibard;A. Nakhaei;F. Lamiraux;J. Laumond
中科院分区：
文献类型：
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作者：
S. Dalibard;A. Nakhaei;F. Lamiraux;J. Laumond
研究了仿人机器人步行时的操作任务规划问题。它引入了“文档化”对象的概念，即提供如何操作它们的信息的对象。规划阶段被分解为两个部分。首先，随机运动规划器使用对象的文档来快速规划用于操纵对象的机器人的简化模型的无碰撞运动。然后，逆运动学求解器通过将简化的路径转换为时间参数化的任务来动画化机器人的整个自由度集合。几个算例表明了该方法的推广性。
This paper deals with manipulation task planning for a humanoid robot while stepping. It introduces the concept of “documented” objects, i.e. objects that provide information on how to manipulate them. The planning phase is decoupled into two parts. First a random motion planner uses the documentation of the object to quickly plan a collision free motion for a simplified model of the robot manipulating the object. Then an inverse kinematics solver animates the whole set of the robot's degrees of freedom by converting the simplified path into time parametrized tasks. Several examples show the generalization of the method.