ICRA 2011 Paper Abstract


Paper TuP103.5

salini, joseph (university upmc paris 6), Padois, Vincent (Université Pierre et Marie Curie), Bidaud, Philippe (Univ. Pierre et Marie Curie - Paris 6)

Synthesis of Complex Humanoid Whole-Body Behavior: A Focus on Sequencing and Tasks Transitions

Scheduled for presentation during the Regular Sessions "Humanoid Robots I" (TuP103), Tuesday, May 10, 2011, 14:40−14:55, Room 3D

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on April 2, 2020

Keywords Humanoid Robots, Robust/Adaptive Control of Robotic Systems, Kinematics


We present a novel approach to deal with transitions while performing a sequence of dynamic tasks with a humanoid robot. The simultaneous achievement of several tasks cannot be ensured, so we use a strategy based on weights to represent their relative importance. The robot interacts with a changing environment, and the input torques are different depending on whether the robot performs tasks in a constrained state (e.g. in contact) or not. We develop a solution with smooth weights variations and transitional tasks which avoids sharp torque evolutions. In order to validate this approach, simulations are carried out on a virtual iCub robot which is assigned the realization of a complex mission involving various changing tasks.



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