Multi-Contact Stances Planning for Multiple Agents
We propose a generalized framework together with an algorithm to plan a discrete sequence of multi-contact stances that brings a set of collaborating robots and manipulated objects from a specified initial configuration to a desired goal through non-gaited acyclic contacts with their environment or among each other. The broad range of applications of this generic algorithm includes legged locomotion planning, whole-body manipulation planning, dexterous manipulation planning, as well as any multi-contact-based motion planning problem that might combine several of these sub-problems. We demonstrate the versatility of our planner through example scenarios taken from the aforementioned classes of problems in virtual environments.
Karim Bouyarmane Abderrahmane Kheddar
CNRS-AIST JRL (Joint Robotics Laboratory) UMI3218/CRT,AIST,Tsukuba,Japan CNRS-University of Montpellier 2 LIRMM,Montpellier,France
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
5246-5253
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）