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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    Title :

    Manipulation planning for the Atlas humanoid robot


    Contributors:
    Du, Cong (author) / Lee, Kit-Hang (author) / Newman, Wyatt (author)


    Publication date :

    2014-12-01


    Size :

    547705 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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