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 [in Japanese] Contact-motion Planning Integrating Multiple Contact Transition Strategies and its Application to Slide Contact Motion for Humanoid Robot [in Japanese]
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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.
- Journal of the Robotics Society of Japan
Journal of the Robotics Society of Japan 35(5), 393-402, 2017
The Robotics Society of Japan