Contact-motion Planning Integrating Multiple Contact Transition Strategies and its Application to Slide Contact Motion for Humanoid Robot

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  • Noda Shintaro
    The University of Tokyo, Graduate School of Information Science and Technology
  • Nozawa Shunichi
    The University of Tokyo, Graduate School of Information Science and Technology
  • Kakiuchi Yohei
    The University of Tokyo, Graduate School of Information Science and Technology
  • Okada Kei
    The University of Tokyo, Graduate School of Information Science and Technology
  • Inaba Masayuki
    The University of Tokyo, Graduate School of Information Science and Technology

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Other Title
  • 複数の接触遷移方式を統合する全身行動計画法とヒューマノイドの滑り接触遷移行動への応用
  • フクスウ ノ セッショク センイ ホウシキ オ トウゴウ スル ゼンシン コウドウ ケイカクホウ ト ヒューマノイド ノ スベリ セッショク センイ コウドウ エ ノ オウヨウ

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Abstract

This paper presents a new contact-motion planning algorithm which searches not only contacts and motions but also contact transition strategies. Especially, this paper focus on slide-type and detach-type switching. Our idea is to separate the planning process into 3 steps: select contact transition strategy, search contact state, and generate motion. This separation prevents from complicating the motion search process which is generally a non-linear optimization process and is computationally expensive, and enables to manually control the priorities of all transition strategies. The contribution of this paper is to develop a new concept of contact-motion planning algorithm involving contact transition strategies switching, and to examine the algorithm's search capabilities through 2 scenarios: bed seating, and standing up. The bed seating experiment is shown not only in the simulation world but also in the real world with real humanoid robot.

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