6 présente le même problème, dans lequel la planification est compliquée par la présence d'une chaise qui empêche l'ouverture de la porte en grand ,
Task Space Regions, The International Journal of Robotics Research, vol.17, issue.12, 2011. ,
DOI : 10.1142/S0219843605000594
URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.167.1569
Manipulation planning on constraint manifolds. Pages 625?632 of : Robotics and Automation, ICRA '09. IEEE International Conference on, 2009. ,
DOI : 10.1109/robot.2009.5152399
URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.187.8568
Incremental Singular Value Decomposition of Uncertain Data with Missing Values. Pages 707?720 of : Heyden, Computer Vision ? ECCV 2002, 2002. ,
Updating the singular value decomposition, Numerische Mathematik, vol.13, issue.2, pp.111-129, 1978. ,
DOI : 10.1007/BF01397471
The complexity of robot motion planning, 1988. ,
Les automates : figures artificielles d'hommes et d'animaux . Histoire et technique, 1949. ,
Principles of Robot Motion : theory, algorithms, and implementation, 2005. ,
A random loop generator for planning the motions of closed kinematic chains using PRM methods. Robotics and Automation, Proceedings. ICRA'02. IEEE International Conference on, 2002. ,
Path Optimization for Humanoid Walk Planning : an Efficient Approach. to appear in Int. Conf Informatics in Control, Automation and Robotics (ICINCO) 2011 Recursive Principal Components Analysis Using Eigenvector Matrix Perturbation, REFERENCES Erdogmus EURASIP Journal on Applied Signal Processing, issue.13, pp.2004-2034, 2004. ,
URL : https://hal.archives-ouvertes.fr/hal-00572375
Planning support contactpoints for acyclic motions and experiments on HRP-2. Pages 293?302 of : Experimental Robotics, 2009. ,
URL : https://hal.archives-ouvertes.fr/lirmm-00798815
Motion planning : from digital actors to humanoid robots, p.100, 2007. ,
URL : https://hal.archives-ouvertes.fr/tel-00145201
An iterative diffusion algorithm for part disassembly. Pages 3149?3154 of, International Conference on Robotics and Automation, 2004. ,
Handbook of discrete and computational geometry, 2004. ,
A kinematics-based probabilistic roadmap method for closed chain systems. Pages 233?245 of : Algorithmic and Computational Robotics : New Directions, The Fourth Workshop on the Algorithmic Foundations of Robotics, 2000. ,
Analysis of a complex of statistical variables into principal components., Journal of Educational Psychology, vol.24, issue.6, pp.417-441, 1933. ,
DOI : 10.1037/h0071325
Randomized Single-query Motion Planning in Expansive Spaces, 2000. ,
Path planning in expansive configuration spaces, Int. J. Computational Geometry & Applications, vol.9, pp.4-5, 1999. ,
On the Probabilistic Foundations of Probabilistic Roadmap Planning, The International Journal of Robotics Research, vol.24, issue.12, p.627, 2006. ,
DOI : 10.1177/0278364906067174
Principal Component Analysis, 2002. ,
DOI : 10.1007/978-1-4757-1904-8
Biped walking pattern generation by using preview control of zeromoment point, IEEE International Conference on Robotics and Automation, vol.2, 2003. ,
Locomotion planning of humanoid robots to pass through narrow spaces. Pages 604?609 of : Robotics and Automation, Proceedings. ICRA'04 IEEE International Conference on, 2004. ,
A Local Collision Avoidance Method for Non-strictly Convex Polyhedra, Robotics: Science and Systems IV, 2008. ,
DOI : 10.15607/RSS.2008.IV.020
Integrating dynamics into motion planning for humanoid robots, 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008. ,
DOI : 10.1109/IROS.2008.4650950
URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.219.2437
Humanoid robot HRP-2. Pages 1083?1090 of : Robotics and Automation, Proceedings. ICRA'04 IEEE International Conference on, 2004. ,
DOI : 10.1109/robot.2004.1307969
URL : https://hal.archives-ouvertes.fr/hal-01276934
Contribution à la planification de mouvement pour robots humanoïdes, Institut National des Sciences Appliquées, 2009. ,
Prioritizing linear equality and inequality systems: Application to local motion planning for redundant robots, 2009 IEEE International Conference on Robotics and Automation, 2009. ,
DOI : 10.1109/ROBOT.2009.5152293
URL : https://hal.archives-ouvertes.fr/inria-00390581
Planning foot placements for a humanoid robot: A problem of inverse kinematics, The International Journal of Robotics Research, vol.24, issue.5, 2010. ,
DOI : 10.1177/0278364910371238
Incremental Sampling-based Algorithms for Optimal Motion Planning, Robotics: Science and Systems VI, 2010. ,
DOI : 10.15607/RSS.2010.VI.034
Probabilistic roadmaps for path planning in high-dimensional configuration spaces. Robotics and Automation, IEEE Transactions on, vol.12, issue.4, pp.566-580, 1996. ,
WHOLE-BODY DYNAMIC BEHAVIOR AND CONTROL OF HUMAN-LIKE ROBOTS, International Journal of Humanoid Robotics, vol.01, issue.01, pp.29-43, 2004. ,
DOI : 10.1142/S0219843604000058
RRT-connect: An efficient approach to single-query path planning, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065), 2000. ,
DOI : 10.1109/ROBOT.2000.844730
Robot Motion Planning, 1991. ,
DOI : 10.1007/978-1-4615-4022-9
A motion planner for nonholonomic mobile robots. Robotics and Automation, IEEE Transactions on, vol.10, issue.5, pp.577-593, 1994. ,
DOI : 10.1109/70.326564
Kineo CAM: a success story of motion planning algorithms, IEEE Robotics & Automation Magazine, vol.13, issue.2, pp.90-93, 2006. ,
DOI : 10.1109/MRA.2006.1638020
Planning Algorithms, 2006. ,
DOI : 10.1017/CBO9780511546877
Spatial Planning : A Configuration Space Approach, IEEE Transactions on Computers, vol.32, issue.2, pp.108-120, 1983. ,
Inverse Kinematic Solutions With Singularity Robustness for Robot Manipulator Control, Journal of Dynamic Systems, Measurement, and Control, vol.108, issue.3, pp.163-171, 1986. ,
DOI : 10.1115/1.3143764
A control-based approach to task-constrained motion planning. Pages 297?302 of : Intelligent Robots and Systems, 2009. ,
A biped walking pattern generator based on “half-steps” for dimensionality reduction, 2011 IEEE International Conference on Robotics and Automation, 2011. ,
DOI : 10.1109/ICRA.2011.5979917
A 2-stages locomotion planner for digital actors, Proceedings of the 2003 ACM SIGGRAPH/Eurographics symposium on Computer animation. Eurographics Association, 2003. ,
Chomp : Gradient optimization techniques for efficient motion planning. Pages 489?494 of : Robotics and Automation, ICRA'09. IEEE International Conference on, 2009. ,
DOI : 10.1109/robot.2009.5152817
URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.145.3738
Optimal pathsfor a car that goesboth forwards and backwards, Pacific Journal of Mathematics, vol.145, issue.2, 1990. ,
Nonlinear Dimensionality Reduction by Locally Linear Embedding, Science, vol.290, issue.5500, pp.290-2323, 2000. ,
DOI : 10.1126/science.290.5500.2323
The intelligent ASIMO : System overview and integration. Pages 2478?2483 of : Intelligent Robots and Systems, IEEE/RSJ International Conference on, 2002. ,
Kernel principal component analysis, Lecture notes in Computer Science, pp.583-588, 1997. ,
DOI : 10.1007/BFb0020217
Planning, geometry, and complexity of robot motion, 1987. ,
Topological property for collision-free nonholonomic motion planning: the case of sinusoidal inputs for chained form systems, IEEE Transactions on Robotics and Automation, vol.14, issue.5, pp.671-680, 1998. ,
DOI : 10.1109/70.720344
Springer handbook of robotics, 2008. ,
Visibility-based probabilistic roadmaps for motion planning, Advanced Robotics, vol.14, issue.6, pp.477-493, 2000. ,
DOI : 10.1163/156855300741960
Manipulation Planning with Probabilistic Roadmaps, The International Journal of Robotics Research, vol.23, issue.7-8, pp.729-107, 2004. ,
DOI : 10.1177/0278364904045471
Task constrained motion planning in robot joint space. Pages 3074? 3081 of, Proc. of the IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems. Ci- teseer, 2007. ,
DOI : 10.1109/iros.2007.4399305
URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.113.6814
Toyota partner robots, Journal-Robotics Society of Japan, vol.24, issue.2, p.62, 2006. ,
A Global Geometric Framework for Nonlinear Dimensionality Reduction, Science, vol.290, issue.5500, pp.290-2319, 2000. ,
DOI : 10.1126/science.290.5500.2319
Nonhomogeneous nilpotent approximations for nonholonomic systems with singularities. Automatic Control, IEEE Transactions on, vol.49, issue.2, pp.261-266, 2004. ,
Biped Locomotion : dynamics , stability, control, and application, 1990. ,
Singular value decomposition and principal component analysis. A practical approach to microarray data analysis, pp.91-109, 2003. ,
On the stability of walking systems, Proceedings of the International Workshop on Humanoid and Human Friendly Robotics, 2002. ,
URL : https://hal.archives-ouvertes.fr/inria-00390866
Randomized path planning for linkages with closed kinematic chains. Robotics and Automation, IEEE Transactions on, vol.17, issue.6, pp.951-958, 2001. ,
-5) Humanoid motion planning for dynamic tasks. Pages 1 ?6 of : Humanoid Robots, 5th IEEE-RAS International Conference on, 2005. ,
URL : https://hal.archives-ouvertes.fr/hal-00908568
Task-driven support polygon reshaping for humanoids. Pages 208?213 of : Humanoid Robots, 6th IEEE-RAS International Conference on, 2006. ,
Give me the purple ball " -he said to HRP- 2 of : Humanoid Robots, 7th IEEE-RAS International Conference on, 2007. ,
On the Convergence of Eigenspaces in Kernel Principal Component Analysis, Neural Information Processing Systems, 2005. ,
URL : https://hal.archives-ouvertes.fr/hal-00373803