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Agimus: a new framework for mapping manipulation motion plans to sequences of hierarchical task-based controllers

Abstract : In this paper we present the integration of a manipulation motion planner involving multiple contacts with an automated generator of controllers to execute the manipulation tasks. The novelty of the method is not only to produce a configuration space trajectory but also automatically formulate the controllers that perform the tasks while keeping balance on a humanoid robot. We demonstrate this approach fully integrated on a real Talos humanoid robot while using controllers formulated as a sequence of hierarchical Stack-of-Tasks.
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https://hal.laas.fr/hal-02466543
Contributor : Alexis Nicolin <>
Submitted on : Tuesday, February 4, 2020 - 3:04:18 PM
Last modification on : Monday, March 9, 2020 - 1:46:03 PM
Long-term archiving on: : Tuesday, May 5, 2020 - 4:49:35 PM

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  • HAL Id : hal-02466543, version 1

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Alexis Nicolin, Joseph Mirabel, Sébastien Boria, Olivier Stasse, Florent Lamiraux. Agimus: a new framework for mapping manipulation motion plans to sequences of hierarchical task-based controllers. IEEE/SICE International Symposium on System Integration, Jan 2020, Honolulu, United States. ⟨hal-02466543⟩

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