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Conference Papers Year : 2011

Synthesis of Complex Humanoid Whole-Body Behavior: a Focus on Sequencing and Tasks Transitions

Abstract

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.
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Dates and versions

hal-00578073 , version 1 (18-03-2011)

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Joseph Salini, Vincent Padois, Philippe Bidaud. Synthesis of Complex Humanoid Whole-Body Behavior: a Focus on Sequencing and Tasks Transitions. IEEE International Conference on Robotics and Automation, May 2011, Shanghai, China. pp.1283-1290, ⟨10.1109/ICRA.2011.5980202⟩. ⟨hal-00578073⟩
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