Summary
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.
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© 2009 Springer-Verlag Berlin Heidelberg
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Escande, A., Kheddar, A., Miossec, S., Garsault, S. (2009). Planning Support Contact-Points for Acyclic Motions and Experiments on HRP-2. In: Khatib, O., Kumar, V., Pappas, G.J. (eds) Experimental Robotics. Springer Tracts in Advanced Robotics, vol 54. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-00196-3_35
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DOI: https://doi.org/10.1007/978-3-642-00196-3_35
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-00195-6
Online ISBN: 978-3-642-00196-3
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