Motion primitive based random planning for loco-manipulation tasks
作者： Alessandro Settimi , Danilo Caporale , Przemyslaw Kryczka , Mirko Ferrati , Lucia Pallottino
DOI: 10.1109/HUMANOIDS.2016.7803402
关键词:
摘要: Several advanced control laws are available for complex robotic systems such as humanoid robots and mobile manipulators. Controls usually developed locomotion or manipulation purposes. Resulting motions executed sequentially the potentiality of platform is not fully exploited. In this work we consider problem loco-manipulation planning a robot with given parametrized known primitives. Such primitives, may have been designed to be simultaneously by composing them instability easily arise. With proposed approach, primitives combination that guarantee stability system obtained resulting in whole-body behavior. A formal definition motion provided random sampling approach on manifold limited dimension investigated. Probabilistic completeness asymptotic optimality also proved. The tested both manipulator Walk-Man, performing tasks.
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