Kinematic planning for performing manipulation tasks with an Atlas humanoid robot is presented. A hybrid analytic/numerical inverse kinematics approach is described, yielding fast solutions. The solution technique supports extensive exploration of manipulation strategies. Task-specific optimization metrics are introduced, leading to manipulation plans for three tasks: acquiring a horizontal cylinder, turning a valve, and turning a door handle.


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    Titel :

    Manipulation planning for the Atlas humanoid robot


    Beteiligte:
    Du, Cong (Autor:in) / Lee, Kit-Hang (Autor:in) / Newman, Wyatt (Autor:in)


    Erscheinungsdatum :

    2014-12-01


    Format / Umfang :

    547705 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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