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Humanoid Robotics: A Reference pp 1763–1804Cite as

Multi-contact Motion Planning and Control

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Abstract

The essence of humanoid robots is their ability to reproduce human skills in locomotion and manipulation. Early efforts in humanoid research were dedicated to bipedal walking, first on flat terrains and recently on uneven ones, while the manipulation capabilities inherit from the literature in bimanual and dexterous-hand manipulation. In practice, the two problems interact largely. Locomotion in cluttered spaces benefits from extra contacts between any part of the robot and the environment, such as when grippers grasp a handrail during stair climbing, while legs can conversely enhance manipulation capabilities, such as when arching the whole body to augment contact pressure at an end effector. The two problems share the same background: they are governed by non-smooth dynamics (friction and impacts at contacts) under viability constraints including dynamic stability. Consequently, they are now solved jointly. This chapter highlights the state-of-the-art techniques used for this purpose in multi-contact planning and control.

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Authors and Affiliations

  1. CNRS, Inria Nancy - Grand Est, Loria UMR 7503, Larsen team, Université de Lorraine, Vandœuvre-Lès-Nancy, France

    Karim Bouyarmane

  2. Interactive Digital Human (IDH), CNRS-University of Montpellier, Montpellier, France

    Stéphane Caron

  3. CNRS-AIST Joint Robotics Laboratory (JRL), Tsukuba, Japan

    Adrien Escande

  4. Interactive Digital Human (IDH), CNRS-University of Montpellier, Montpellier, France

    Abderrahmane Kheddar

  5. CNRS-AIST Joint Robotics Laboratory (JRL), Tsukuba, Japan

    Abderrahmane Kheddar

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  1. Karim Bouyarmane
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  2. Stéphane Caron
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  3. Adrien Escande
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  4. Abderrahmane Kheddar
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Correspondence to Karim Bouyarmane .

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Editors and Affiliations

  1. Intuitive Surgical, Sunnyvale, CA, USA

    Ambarish Goswami

  2. Department of Electrical and Computer Engineering, National University of Singapore, Singapore, Singapore

    Prahlad Vadakkepat

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Bouyarmane, K., Caron, S., Escande, A., Kheddar, A. (2019). Multi-contact Motion Planning and Control. In: Goswami, A., Vadakkepat, P. (eds) Humanoid Robotics: A Reference. Springer, Dordrecht. https://doi.org/10.1007/978-94-007-6046-2_32

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