Title :
Point-cloud multi-contact planning for humanoids: Preliminary results
Author :
Brossette, Stanislas ; Vaillant, Joris ; Keith, Francois ; Escande, Adrien ; Kheddar, Abderrahmane
Author_Institution :
LIRMM, Interactive Digital Humans, UM2, Montpellier, France
Abstract :
We present preliminary results in porting our multi-contact non-gaited motion planning framework to operate in real environments where the surroundings are acquired using an embedded camera together with a depth map sensor. We consider the robot to have no a priori knowledge of the environment, and propose a scheme to extract the information relevant for planning from an acquired point cloud. This yield the basis of an egocentric on-the-fly multi-contact planner. We then demonstrate its capacity with two simulation scenarios involving an HRP-2 robot in various environment before discussing some issues to be addressed in our quest to achieve a close loop between planning and execution in an environment explored through embedded sensors.
Keywords :
cameras; humanoid robots; image sensors; path planning; HRP-2 robot; depth map sensor; egocentric on-the-fly multi-contact planner; embedded camera; embedded sensors; humanoid robots; information extraction; multicontact nongaited motion planning framework; point-cloud multicontact planning; Cameras; Planning; Robot sensing systems; Solid modeling; Surface treatment; Three-dimensional displays;
Conference_Titel :
Robotics, Automation and Mechatronics (RAM), 2013 6th IEEE Conference on
Conference_Location :
Manila
Print_ISBN :
978-1-4799-1198-1
DOI :
10.1109/RAM.2013.6758553