Multi-modal motion planning for a humanoid robot manipulation task
Published
Journal Article
This paper presents a motion planner that enables a humanoid robot to push an object on a flat surface. The robot's motion is divided into distinct walking, reaching, and pushing modes. A discrete change of mode can be achieved with a continuous single-mode motion that satisfies mode-specific constraints (e.g. dynamics, kinematic limits, avoid obstacles). Existing techniques can plan well in single modes, but choosing the right mode transitions is difficult. Search-based methods are vastly inefficient due to over-exploration of similar modes. Our new method, Random-MMP, randomly samples mode transitions to distribute a sparse number of modes across configuration space. Results are presented in simulation and on the Honda ASIMO robot. © 2010 Springer-Verlag Berlin Heidelberg.
Full Text
Duke Authors
Cited Authors
- Hauser, K; Ng-Thow-Hing, V; Gonzalez-Baños, H
Published Date
- December 1, 2010
Published In
Volume / Issue
- 66 / STAR
Start / End Page
- 307 - 317
Electronic International Standard Serial Number (EISSN)
- 1610-742X
International Standard Serial Number (ISSN)
- 1610-7438
Digital Object Identifier (DOI)
- 10.1007/978-3-642-14743-2_26
Citation Source
- Scopus