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

[1]  Masayuki Inaba,et al.  Robust vertical ladder climbing and transitioning between ladder and catwalk for humanoid robots , 2015, 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

[2]  Aaron Hertzmann,et al.  Trajectory Optimization for Full-Body Movements with Complex Contacts , 2013, IEEE Transactions on Visualization and Computer Graphics.

[3]  Timothy Bretl,et al.  Toward Autonomous Free-Climbing Robots , 2005, ISRR.

[4]  S. Rock,et al.  Multi-step motion planning: application to free-climbing robots , 2005 .

[5]  Sylvain Miossec,et al.  Planning support contact-points for humanoid robots and experiments on HRP-2 , 2006, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[6]  Andrew Howard,et al.  Design and use paradigms for Gazebo, an open-source multi-robot simulator , 2004, 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566).

[7]  François Keith,et al.  Exploring humanoid robots locomotion capabilities in virtual disaster response scenarios , 2012, 2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012).

[8]  Masayuki Inaba,et al.  Shuffle motion for humanoid robot by sole load distribution and foot force control , 2015, 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

[9]  Masayuki Inaba,et al.  EusLisp: an object-based implementation of Lisp , 1991 .

[10]  Zoran Popovic,et al.  Discovery of complex behaviors through contact-invariant optimization , 2012, ACM Trans. Graph..

[11]  Masayuki Inaba,et al.  Generating whole-body motion keep away from joint torque, contact force, contact moment limitations enabling steep climbing with a real humanoid robot , 2014, 2014 IEEE International Conference on Robotics and Automation (ICRA).

[12]  Masayuki Inaba,et al.  Contact involving whole-body behavior generation based on contact transition strategies switching , 2015, 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

[13]  Sylvain Miossec,et al.  Planning contact points for humanoid robots , 2013, Robotics Auton. Syst..

[14]  Masayuki Inaba,et al.  Development and verification of life-size humanoid with high-output actuation system , 2014, 2014 IEEE International Conference on Robotics and Automation (ICRA).

[15]  Abderrahmane Kheddar,et al.  Humanoid Robot Locomotion and Manipulation Step Planning , 2012, Adv. Robotics.

[16]  Timothy Bretl,et al.  Motion Planning for Legged Robots on Varied Terrain , 2008, Int. J. Robotics Res..

[17]  Eiichi Yoshida,et al.  Generation of whole-body optimal dynamic multi-contact motions , 2013, Int. J. Robotics Res..

[18]  Kris K. Hauser,et al.  Fast dynamic optimization of robot paths under actuator limits and frictional contact , 2014, 2014 IEEE International Conference on Robotics and Automation (ICRA).

[19]  Timothy Bretl,et al.  Non-gaited humanoid locomotion planning , 2005, 5th IEEE-RAS International Conference on Humanoid Robots, 2005..