Whole-body motion planning for pivoting based manipulation by humanoids
Whole-body motion planning for pivoting based manipulation by humanoids
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DOI：
10.1109/robot.2008.4543695
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发表时间：
2008-05
期刊：
影响因子：
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通讯作者：
E. Yoshida;Mathieu Poirier;J. Laumond;O. Kanoun;F. Lamiraux;R. Alami;K. Yokoi
中科院分区：
文献类型：
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作者：
E. Yoshida;Mathieu Poirier;J. Laumond;O. Kanoun;F. Lamiraux;R. Alami;K. Yokoi
本文强调的能力，一个人形机器人执行任务，是很难为其他类型的机器人。它处理的是对大体积物体的操作。这些任务需要复杂的操作，涉及全身和腿，手臂和躯干运动之间的线协调。我们在这里介绍一个全身运动规划器，允许一个人形机器人自主规划的枢转策略，占各种约束：避免碰撞，腿臂协调和稳定性控制。在文献[1]证明枢转系统小时间可控性的基础上，证明了该规划器继承了基于采样的运动规划方法的概率完备性，并通过仿真和实验验证了该规划器的几何和运动学性能。
This paper emphasizes on the capacity of a humanoid robot to perform tasks that are difficult for other types of robots. It deals with manipulation of bulky objects. Such tasks require complicated manipulations involving the whole-body and line coordination between legs, arms and torso motions. We introduce here a whole-body motion planner that allows a humanoid robot to autonomously plan a pivoting strategy that accounts for the various constraints: collision avoidance, legs-arms coordination and stability control. Based on a previous result by the authors [1] proving the small-time controllability of a pivoting system, the planner is proven to inherit from the probabilistic completeness of the sampling- based motion planning method it is built on. The geometric and kinematic capacity of the proposed planner is mainly demonstrated through simulations and experiments.