Title :
Manipulation planning for the Atlas humanoid robot
Author :
Cong Du ; Kit-Hang Lee ; Newman, Wyatt
Author_Institution :
Univ. of Hong Kong, Hong Kong, China
Abstract :
Kinematic planning for performing manipulation tasks with an Atlas humanoid robot is presented. A hybrid analytic/numerical inverse kinematics approach is described, yielding fast solutions. The solution technique supports extensive exploration of manipulation strategies. Task-specific optimization metrics are introduced, leading to manipulation plans for three tasks: acquiring a horizontal cylinder, turning a valve, and turning a door handle.
Keywords :
humanoid robots; manipulator kinematics; optimisation; planning (artificial intelligence); Atlas humanoid robot; cylinder; door handle turning; hybrid analytic-numerical inverse kinematics approach; kinematic planning; manipulation planning; manipulation strategies; task-specific optimization metrics; valve turning; Approximation methods; Joints; Kinematics; Turning; Valves; Wheels; Wrist;
Conference_Titel :
Robotics and Biomimetics (ROBIO), 2014 IEEE International Conference on
DOI :
10.1109/ROBIO.2014.7090482
