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Conference Papers Year : 2020

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

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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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Dates and versions

hal-02466543 , version 1 (04-02-2020)

Identifiers

  • HAL Id : hal-02466543 , version 1

Cite

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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