{"title":"Manipulation planning for the Atlas humanoid robot","authors":"Cong Du, Kit-Hang Lee, W. Newman","doi":"10.1109/ROBIO.2014.7090482","DOIUrl":null,"url":null,"abstract":"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.","PeriodicalId":289829,"journal":{"name":"2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"5","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ROBIO.2014.7090482","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 5
Abstract
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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