Planification de tâche de manipulation par pivotement pour un robot humain

Mathieu Poirier 1
1 LAAS-GEPETTO - Équipe Mouvement des Systèmes Anthropomorphes
LAAS - Laboratoire d'analyse et d'architecture des systèmes
Abstract : This manuscript highlights the ability of a humanoid robot to perform a task hard to achieve by other types of robots. Here we are interested in manipulation of bulky objects. Such manipulation tasks are performed with great difficulty and involve several skills, such as taking into account motion of the body as one whole system (or whole-body motion) and perfect synchronization between the different limbs, arms and legs. We introduce here a whole-body motion planner that gives a humanoid robot the ability to automatically find a strategy for moving bulky objects by pivoting, taking into account a number of constraints : collision avoidance, limbs coordination, arms and legs, and stability control throughout the motion. Based on formal controllability results, defined upstream, the planner also inherits completeness of the probabilistic random sampling methods on which it is built. The geometric and kinematic capabilities of the planner proposed are also demonstrated through simulations and real experiments. Then we focus on solving more complex problems, giving the robot the ability to release and regrasp the object to manipulate if it is stuck in a narrow passage.
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  • HAL Id : tel-00450869, version 1

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Mathieu Poirier. Planification de tâche de manipulation par pivotement pour un robot humain. Automatique / Robotique. INSA de Toulouse, 2009. Français. ⟨tel-00450869⟩

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