Several advanced control laws are available for complex robotic systems such as humanoid robots and mobile manipulators. Controls are usually developed for locomotion or for manipulation purposes. Resulting motions are usually executed sequentially and the potentiality of the robotic platform is not fully exploited. In this work we consider the problem of loco-manipulation planning for a robot with given parametrized control laws known as primitives. Such primitives, may have not been designed to be executed simultaneously and by composing them instability may easily arise. With the proposed approach, primitives combination that guarantee stability of the system are obtained resulting in complex whole-body behavior. A formal definition of motion primitives is provided and a random sampling approach on a manifold with limited dimension is investigated. Probabilistic completeness and asymptotic optimality are also proved. The proposed approach is tested both on a mobile manipulator and on the humanoid robot Walk-Man, performing loco-manipulation tasks.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Motion primitive based random planning for loco-manipulation tasks



    Erscheinungsdatum :

    01.01.2016



    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch


    Klassifikation :

    DDC:    629



    Hybrid Motion Planner for a Multi-Armed Robot Performing On-orbit Loco-manipulation Tasks

    Rodriguez, Ismael / Quintero, Sergio / Lutze, Jean-Pascal et al. | IEEE | 2024


    In loco-motion

    Stagl, Jeff | IuD Bahn | 2007


    TeLeMan: Teleoperation for Legged Robot Loco-Manipulation using Wearable IMU-based Motion Capture

    Kanoulas, Dimitrios / Peers, Christopher / Wan, Yuhui et al. | BASE | 2022

    Freier Zugriff

    Motion Planning for Relocatable Robots Performing On-Orbit Locomotion and Manipulation Tasks

    Huzynets, Anatoliy / Rodriguez Brena, Ismael Valentin / Deremetz, Mathieu et al. | Deutsches Zentrum für Luft- und Raumfahrt (DLR) | 2022

    Freier Zugriff

    Hierarchical Adaptive Loco-manipulation Control for Quadruped Robots

    Sombolestan, Mohsen / Nguyen, Quan | ArXiv | 2022

    Freier Zugriff