阿特拉斯人形机器人的操作规划

2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014) Pub Date : 2014-12-01 DOI:10.1109/ROBIO.2014.7090482

Cong Du, Kit-Hang Lee, W. Newman

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引用次数: 5

摘要

提出了用Atlas人形机器人执行操作任务的运动学规划问题。描述了一种混合解析/数值逆运动学方法，可快速求解。解决方案技术支持对操作策略的广泛探索。引入了特定任务的优化指标，导致三个任务的操作计划:获取水平圆柱体，转动阀门和转动门把手。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Manipulation planning for the Atlas humanoid robot

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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2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)

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