Planning Support Contact-Points for Acyclic Motions and Experiments on HRP-2

机译：规划HRP-2上非周期运动和实验的支持联络点

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This paper presents improvements in contact-before-motion planning for humanoid robots that enables to find a path in very constrained environments. Starting from our previous work, the main novelties are to use a rough trajectory to drive the search and as a criterion to find new contacts and generate the best nodes first. This way only few nodes are effectively explored, speeding up the planning process. We experience the algorithm on the humanoid HRP-2 in a complex scenario.

机译：本文提出了针对人形机器人的运动前接触计划的改进，该方法可以在非常受限的环境中找到路径。从我们以前的工作开始，主要的新颖之处是使用粗糙的轨迹来驱动搜索，并以此为准则来找到新的联系人并首先生成最佳节点。这样，只有很少的节点被有效地探索，从而加快了规划过程。我们在复杂的场景中体验了对人形机器人HRP-2的算法。

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《International symposium on experimental robotics;ISER'11; 20080713-16;20080713-16; Athens(GR);Athens(GR)》|2008年|P.293-302|共10页
会议地点 Athens(GR);Athens(GR)
作者
Adrien Escande; Abderrahmane Kheddar; Sylvain Miossec; Sylvain Garsault;
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AIST/CNRS Joint japanese-french Robotic Laboratory (JRL);

AIST/CNRS Joint japanese-french Robotic Laboratory (JRL);

AIST/CNRS Joint japanese-french Robotic Laboratory (JRL);

AIST/CNRS Joint japanese-french Robotic Laboratory (JRL);

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正文语种 eng
中图分类机器人技术;
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2. Feasibility of motion planning on acyclic and strongly connected directed graphs [J] . Wu ZL, Grumbach S Discrete Applied Mathematics . 2010,第9期

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4. Planning Support Contact-Points for Acyclic Motions and Experiments on HRP-2 [C] . Adrien Escande, Abderrahmane Kheddar, Sylvain Miossec, International Symposium on Experimental Robotics . 2009

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Planning Support Contact-Points for Acyclic Motions and Experiments on HRP-2

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