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Whole-Body Locomotion, Manipulation and Reaching for Humanoids

  • Conference paper
Motion in Games (MIG 2008)

Part of the book series: Lecture Notes in Computer Science ((LNIP,volume 5277))

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Abstract

This paper deals with motion planning and dynamic control for humanoid robots. The first part addresses simultaneous locomotion and manipulation planning while the second part deals with reaching tasks. The validity of the proposed methods is verified by experiments using humanoid platform HRP-2.

This paper is a compilated version of papers presented in IEEE IROS 2006 [1] and IEEE Humanoids 2006 [2]

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Author information

Authors and Affiliations

  1. AIST/ISRI-CNRS/STIC Joint French-Japanese Robotics Laboratory (JRL), National Institute of Advanced Industrial Science and Technology (AIST), 1-1-1 Umezono, Tsukuba, 305-8568, Japan

    Eiichi Yoshida, Takeshi Sakaguchi & Kazuhito Yokoi

  2. JRL, LAAS-CNRS, University of Toulouse, 7, av. du Colonel Roche, 31077, Toulouse, France

    Jean-Paul Laumond & Oussama Kanoun

  3. Facultad de Matematicas, Universidad de Guanajuato, Mexico

    Claudia Esteves

Authors
  1. Eiichi Yoshida
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  2. Jean-Paul Laumond
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  3. Claudia Esteves
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  4. Oussama Kanoun
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  5. Takeshi Sakaguchi
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  6. Kazuhito Yokoi
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Editor information

Editors and Affiliations

  1. Games and Virtual Worlds Group, Universiteit Utrecht, PO Box 80.089, 3508TB, Utrecht, The Netherlands

    Arjan Egges

  2. Games and Virtual Worlds Group, Universiteit Utrecht, PO Box 80.089, 3508TB, Utrecht,, The Netherlands

    Arno Kamphuis

  3. Games and Virtual Worlds Gruop, Universiteit Utrecht, PO Box 80.089, 3508TB, Utrecht, The Netherlands

    Mark Overmars

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© 2008 Springer-Verlag Berlin Heidelberg

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Yoshida, E., Laumond, JP., Esteves, C., Kanoun, O., Sakaguchi, T., Yokoi, K. (2008). Whole-Body Locomotion, Manipulation and Reaching for Humanoids. In: Egges, A., Kamphuis, A., Overmars, M. (eds) Motion in Games. MIG 2008. Lecture Notes in Computer Science, vol 5277. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-89220-5_21

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  • DOI: https://doi.org/10.1007/978-3-540-89220-5_21

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-89219-9

  • Online ISBN: 978-3-540-89220-5

  • eBook Packages: Computer ScienceComputer Science (R0)

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