IEEE - Institute of Electrical and Electronics Engineers, Inc. - Potential field guide for humanoid multicontacts acyclic motion planning

2009 IEEE International Conference on Robotics and Automation (ICRA)

Author(s): Bouyarmane, K. ; Escande, A. ; Lamiraux, F. ; Kheddar, A.
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 May 2009
Conference Location: Kobe, Japan, Japan
Conference Date: 12 May 2009
Page(s): 1,165 - 1,170
ISBN (CD): 978-1-4244-2789-5
ISBN (Paper): 978-1-4244-2788-8
ISSN (Paper): 1050-4729
DOI: 10.1109/ROBOT.2009.5152353
Regular:

We present a motion planning algorithm that computes rough trajectories used by a contact-points planner as a guide to grow its search graph. We adapt collision-free motion planning algorithms to... View More

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