Ferrari, Paolo, Cognetti, Marco and Oriolo, Giuseppe (2017) Humanoid whole-body planning for loco-manipulation tasks. 2017 IEEE International Conference on Robotics and Automation (ICRA). pp. 4741-4746.
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Official URL: https://doi.org/10.1109/ICRA.2017.7989550
Abstract
We consider the problem of planning whole-body motions for humanoids that must execute loco-manipulation tasks, i.e., manipulation tasks that implicitly require a locomotion phase. The proposed planner builds a tree in configuration-time space by concatenating feasible, collision-free whole-body motions that realize a succession of CoM movement primitives and, at the same time, the assigned manipulation task. To obtain fluid, natural motions we identify three zones of operation, i.e, locomotion, loco-manipulation and manipulation, and we carefully design a mechanism that allows to synchronize the two tasks. The proposed method has been implemented in V-REP for the NAO humanoid and successfully tested in various scenarios of increasing complexity.
Item Type: | Article |
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Keywords: | Humanoid; Whole-Body; Planning; Loco-Manipulation; Tasks; |
Academic Unit: | Faculty of Science and Engineering > Electronic Engineering Faculty of Science and Engineering > Research Institutes > Hamilton Institute |
Item ID: | 15335 |
Identification Number: | 10.1109/ICRA.2017.7989550 |
Depositing User: | Marco Cognetti |
Date Deposited: | 24 Jan 2022 17:04 |
Journal or Publication Title: | 2017 IEEE International Conference on Robotics and Automation (ICRA) |
Publisher: | IEEE |
Refereed: | Yes |
Related URLs: | |
URI: | https://mu.eprints-hosting.org/id/eprint/15335 |
Use Licence: | This item is available under a Creative Commons Attribution Non Commercial Share Alike Licence (CC BY-NC-SA). Details of this licence are available here |
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