Communication Dans Un Congrès Année : 2009

Whole-Body Task Planning for a Humanoid Robot: a Way to Integrate Collision Avoidance

Résumé

This paper deals with motion planning for a humanoid robot under task constraints. It presents a novel random method, inspired by the RRT-Connect algorithm, that uses a local task solver to generate statically stable collision-free configurations. It is able to plan motions for a large variety of tasks. In an experimental section, we compare in details this random strategy with a local collision avoidance method found in the literature.

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hal-00450897 , version 1 (27-01-2010)

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  • HAL Id : hal-00450897 , version 1

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Sébastien Dalibard, Alireza Nakhaei, Florent Lamiraux, Jean-Paul Laumond. Whole-Body Task Planning for a Humanoid Robot: a Way to Integrate Collision Avoidance. IEEE International Conference on Humanoid Robots, Dec 2009, Paris, France. pp.1-6. ⟨hal-00450897⟩
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