89documents trouvés
A local collision avoidance method for non-strictly convex object (article en japonais)
F.KANEHIRO, E.YOSHIDA, F.LAMIRAUX, O.KANOUN, J.P.LAUMOND
GEPETTO, AIST
Revue Scientifique : Journal of the Robotics Society of Japan, 8p., Novembre 2008 , N° 08588
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Mots-Clés / Keywords
Collision avoidance; Motion planning; Distance computation; Voronoi region; QP problem; Optimization; Humanoid;
Integrating dynamics into motion planning for humanoid robots
F.KANEHIRO, W.SULEIMAN, F.LAMIRAUX, E.YOSHIDA, J.P.LAUMOND
AIST, MRS, GEPETTO
Manifestation avec acte : IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2008), Nice (France), 22-26 Septembre 2008, 8p. , N° 08129
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115152A local collision avoidance method for non-strictly convex objects
F.KANEHIRO, F.LAMIRAUX, O.KANOUN, E.YOSHIDA, J.P.LAUMOND
AIST, GEPETTO
Manifestation avec acte : 2008 Robotics: Science and Systems Conference , Zurich (Suisse), 25-28 Juin 2008, 7p. , N° 08021
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114759Sensor-based docking motion for nonholonomic mobile robots
O.LEFEBVRE, F.LAMIRAUX
GEPETTO
Rapport LAAS N°08251, Mai 2008, 8p.
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Mots-Clés / Keywords
Non-holonomic systems; Sensor-based motions;
Whole-body motion planning for pivoting based manipulation by humanoids
E.YOSHIDA, M.POIRIER, J.P.LAUMOND, O.KANOUN, F.LAMIRAUX, R.ALAMI, K.YOKOI
AIST, GEPETTO, RIS
Manifestation avec acte : IEEE International Conference on Robotics and Automation (ICRA 2008), Pasadena (USA), 19-23 Mai 2008, pp.3181-3186 , N° 08128
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Abstract
This paper emphasizes on the capacity of a humanoid robot to perform tasks that are difficult for other types of robots. It deals with manipulation of bulky objects. Such tasks require complicated manipulations involving the whole-body and line coordination between legs, arms and torso motions. We introduce here a whole-body motion planner that allows a humanoid robot to autonomously plan a pivoting strategy that accounts for the various constraints: collision avoidance, legs-arms coordination and stability control. Based on a previous result by the authors [1] proving the small-time controllability of a pivoting system, the planner is proven to inherit from the probabilistic completeness of the sampling- based motion planning method it is built on. The geometric and kinematic capacity of the proposed planner is mainly demonstrated through simulations and experiments.
Motion Planning and Obstacle Avoidance
J.MINGUEZ, F.LAMIRAUX, J.P.LAUMOND
Zaragoza, GEPETTO
Ouvrage (contribution) : Springer Handbooks of Robotics, Siciliano & Khatib (Eds), Springer, N°ISBN: 978-3-540-23957-4, Mai 2008, pp.827-852 , N° 08845
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118027Planning robust landmarks for sensor based motion
M.TAIX, A.C.MALTI, F.LAMIRAUX
GEPETTO
Manifestation avec acte : European Robotics Symposium (EUROS 2008), Prague (République Tchèque), 26-28 Mars 2008, 7p. , N° 07152
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Abstract
Our work is focused on defining a generic approach for planning landmark based motion. In previous works we have introduced the formal basis for this and showed simulation results. In this paper we first demonstrate the relevance of our work with experiments on a real robot. Then, on the base of these results we introduce new strategy for planning selecting landmarks in order to improve the robustness of the navigation task in a cluttered environment.
A new framework for planning motions in stochastic maps built by SLAM methods
A.NAKHAEI SARVEDANI, F.LAMIRAUX
GEPETTO
Rapport LAAS N°07640, Novembre 2007, 6p.
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Abstract
In this paper we propose a new framework for motion planning in stochastic map produced by SLAM techniques. We reformulate the path planning problem in stochastic map and then propose a way to modify classical path planning methods in order to fit this new framework. In this framework, sensors and landmarks need to be taken into account. The core computations lie in the evaluation of the probability of collision of configurations with the map.
Mots-Clés / Keywords
Visual servoing; SLAM; Motion and Path Planning;
"Give me the purple ball" - he said to HRP-2 N.14
E.YOSHIDA, A.MALLET, F.LAMIRAUX, O.KANOUN, O.STASSE, M.POIRIER, P.F.DOMINEY, J.P.LAUMOND, K.YOKOI
GEPETTO, AIST, ISC CNRS
Manifestation avec acte : IEEE-RAS International Conference on Humanoid Robots (Humanoids 07), Pittsbugh (USA), 29 Novembre - 1er décembre 2007, 7p. , N° 07450
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Abstract
This paper reports current experiments conducted on HRP-2 based research on robot autonomy. The contribution of the paper is not focused on a specific area but its objective is to highlight the critical issues that had to be solved to allow the humanoid robot HRP-2 to understand and execute the order "give me the purple ball" in an autonomous way. Such an experiment requires: simple object recognition and localization, motion planning and control, natural spoken language supervision, simple action supervisor and control architecture.
Sensor based planning: experimental results
M.TAIX, A.C.MALTI, F.LAMIRAUX
GEPETTO
Rapport LAAS N°07215, Mai 2007, 7p.
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Mots-Clés / Keywords
Sensor based motion; Mobile robot; Sensor planning; Motion planning;