Synthesis of Complex Humanoid Whole-Body Behavior: a Focus on Sequencing and Tasks Transitions
We present a novel approach to deal with transitions while performing a sequence of dynamic tasks with a humanoid robot. The simultaneous achievement of several tasks cannot be ensured, so we use a strategy based on weights to represent their relative importance. The robot interacts with a changing environment, and the input torques are different depending on whether the robot performs tasks in a constrained state (e.g. in contact) or not. We develop a solution with smooth weights variations and transitional tasks which avoids sharp torque evolutions. In order to validate this approach, simulations are carried out on a virtual iCub robot which is assigned the realization of a complex mission involving various changing tasks.
Joseph Salini Vincent Padois Philippe Bidaud
Universit(e) Pierre et Marie Curie Institut des Syst(e)mes Intelligents et de Robotique - CNRS UMR 7222 Pyramide Tour 55,Boite Courrier 173 4 Place Jussieu F-75005 Paris
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
1283-1290
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）