Multi-contact Locomotion of Legged Robots in Complex Environments – The Loco3D project
| Autor: | Justin Carpentier, Andrea del Prete, Steve Tonneau, Thomas Flayols, Florent Forget, Alexis Mifsud, Kevin Giraud--Esclasse, Dinesh Atchuthan, Pierre Fernbach, Rohan Budhiraja, Mathieu Geisert, Joan Solà, Olivier STASSE, Nicolas Mansard |
|---|---|
| Přispěvatelé: | Équipe Mouvement des Systèmes Anthropomorphes (LAAS-GEPETTO), Laboratoire d'analyse et d'architecture des systèmes (LAAS), Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT)-Université de Toulouse (UT)-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Université de Toulouse (UT)-Institut National des Sciences Appliquées (INSA)-Université Toulouse - Jean Jaurès (UT2J), Université de Toulouse (UT)-Université Toulouse III - Paul Sabatier (UT3), Université de Toulouse (UT)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université de Toulouse (UT)-Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT), Institut de Robòtica i Informàtica Industrial (IRI), Universitat Politècnica de Catalunya [Barcelona] (UPC)-Consejo Superior de Investigaciones Científicas [Madrid] (CSIC), ANR-16-CE33-0003,LOCO3D,Locomotion en environnement complexe(2016), European Project: 284951,EC:FP7:ICT,FP7-ICT-2011-FET-F,CA-ROBOCOM(2011), Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées-Université Fédérale Toulouse Midi-Pyrénées-Centre National de la Recherche Scientifique (CNRS)-Université Toulouse III - Paul Sabatier (UT3), Université Fédérale Toulouse Midi-Pyrénées-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université Fédérale Toulouse Midi-Pyrénées-Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées, Consejo Superior de Investigaciones Científicas [Madrid] (CSIC)-Universitat Politècnica de Catalunya [Barcelona] (UPC) |
| Jazyk: | angličtina |
| Rok vydání: | 2017 |
| Předmět: | |
| Zdroj: | RSS Workshop on Challenges in Dynamic Legged Locomotion RSS Workshop on Challenges in Dynamic Legged Locomotion, Jul 2017, Boston, United States. 3p HAL |
| Popis: | International audience; Planning, adapting and executing multi-contact locomotion movements on legged robots in complex environments remains an open problem. In this proposal, we introduce a complete pipeline to address this issue in the context of humanoid robots inside industrial environments. This pipeline relies on a multi-stage approach in order to simplify the process flow and to exploit at best state-of-the-art techniques both in terms of contact planning, whole-body control and perception. The main challenges lie in the choice of the different modules composing this pipeline as well as their mutual interactions: e.g. at which frequency rates each module has to work in order to allow safe and robust locomotion? or which information must transit between the modules? We named this project Loco3D standing for Locomotion in 3D, in contrast to the classic locomotion on quasi-flat terrains, where the motion of the center of mass of the robot is mostly limited to a 2D plane. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
|