We consider the problem of planning whole-body motions for humanoids that must execute loco-manipulation tasks, i.e., manipulation tasks that implicitly require a locomotion phase. The proposed planner builds a tree in configuration-time space by concatenating feasible, collision-free whole-body motions that realize a succession of CoM movement primitives and, at the same time, the assigned manipulation task. To obtain fluid, natural motions we identify three zones of operation, i.e, locomotion, loco-manipulation and manipulation, and we carefully design a mechanism that allows to synchronize the two tasks. The proposed method has been implemented in V-REP for the NAO humanoid and successfully tested in various scenarios of increasing complexity.

Humanoid whole-body planning for loco-manipulation tasks / Ferrari, Paolo; Cognetti, Marco; Oriolo, Giuseppe. - ELETTRONICO. - (2017), pp. 4741-4746. (Intervento presentato al convegno 2017 IEEE International Conference on Robotics and Automation, ICRA 2017 tenutosi a Singapore nel 2017) [10.1109/ICRA.2017.7989550].

Humanoid whole-body planning for loco-manipulation tasks

FERRARI, PAOLO;Cognetti, Marco
;
Oriolo, Giuseppe
2017

Abstract

We consider the problem of planning whole-body motions for humanoids that must execute loco-manipulation tasks, i.e., manipulation tasks that implicitly require a locomotion phase. The proposed planner builds a tree in configuration-time space by concatenating feasible, collision-free whole-body motions that realize a succession of CoM movement primitives and, at the same time, the assigned manipulation task. To obtain fluid, natural motions we identify three zones of operation, i.e, locomotion, loco-manipulation and manipulation, and we carefully design a mechanism that allows to synchronize the two tasks. The proposed method has been implemented in V-REP for the NAO humanoid and successfully tested in various scenarios of increasing complexity.
2017
2017 IEEE International Conference on Robotics and Automation, ICRA 2017
Control and Systems Engineering; Software; Artificial Intelligence; Electrical and Electronic Engineering
04 Pubblicazione in atti di convegno::04b Atto di convegno in volume
Humanoid whole-body planning for loco-manipulation tasks / Ferrari, Paolo; Cognetti, Marco; Oriolo, Giuseppe. - ELETTRONICO. - (2017), pp. 4741-4746. (Intervento presentato al convegno 2017 IEEE International Conference on Robotics and Automation, ICRA 2017 tenutosi a Singapore nel 2017) [10.1109/ICRA.2017.7989550].
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11573/1023136
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