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https://www.researchgate.net/publication/224060462_Task-driven_Support_Polygon_Reshaping_for_Humanoids
In this paper we address a task-driven motion generation method that allows a humanoid robot to make whole-body motions including support polygon reshaping to achieve the given tasks.
https://staff.aist.go.jp/e.yoshida/papers/humanoids2006.pdf
Task-driven Support Polygon Reshaping for Humanoids Eiichi Yoshida1∗ Oussama Kanoun 2, Claudia Esteves and Jean-Paul Laumond AIST/ISRI-CNRS/STIC Joint French-Japanese Robotics Laboratory (JRL) 1Intelligent Systems Research Institute, National Institute 2 LAAS-CNRS of Advanced Industrial Science and Technology (AIST) 7, av. du Colonel Roche
https://www.infona.pl/resource/bwmeta1.element.ieee-art-000004115603
In this paper we address a task-driven motion generation method that allows a humanoid robot to make whole-body motions including support polygon reshaping to achieve the given tasks. In the proposed method, generalized inverse kinematics (IK) is employed with floating-base to generate humanoid whole-body motions that enable the robot to accomplish the tasks according to given priorities ...
http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.716.6879
CiteSeerX - Document Details (Isaac Councill, Lee Giles, Pradeep Teregowda): Abstract — In this paper we address a task-driven motion generation method that allows a humanoid robot to make whole-body motions including support polygon reshaping to achieve the given tasks. In the proposed method, generalized inverse kine-matics (IK) is employed with floating-base to generate humanoid whole ...
https://www.cimat.mx/~cesteves/publis/journal/MotionAutonomyExpHRP2-14(CAVW).pdf
MOTION AUTONOMY FOR HUMANOIDS Figure 4. Task-driven support polygon reshaping and whole-body motion generation. task is fulfilled. The position of a foot is then derived to generate the motion of center of mass (CoM) ˙xCoM by using a dynamic walking pattern generator.7 Using this CoM motion, the original task is then redefined
https://www.researchgate.net/publication/224191950_On_using_human_movement_invariants_to_generate_target-driven_anthropomorphic_locomotion
In this paper we address a task-driven motion generation method that allows a humanoid robot to make whole-body motions including support polygon reshaping to achieve the given tasks.
https://www.researchgate.net/publication/41141738_Whole-Body_Task_Planning_for_a_Humanoid_Robot_A_Way_to_Integrate_Collision_Avoidance_in_Humanoids
In this paper we address a task-driven motion generation method that allows a humanoid robot to make whole-body motions including support polygon reshaping to achieve the given tasks.
https://www.researchgate.net/profile/Eiichi_Yoshida3/publication/228537517_Motion_Planning_for_Humanoid_Robots_Highlights_with_HRP-2/links/00b4952aff8f258f5c000000.pdf?inViewer=true&pdfJsDownload=true&disableCoverPage=true&origin=publication_detail
Motion Planning for Humanoid Robots: Highlights with HRP-2 ... We have also developed a task-driven support polygon reshaping [31] that enables a whole- ... CNRS has been also motion planning for ...
https://staff.aist.go.jp/e.yoshida/papers/cavw_yoshida_2009.pdf
MOTION AUTONOMY FOR HUMANOIDS Figure 4. Task-driven support polygon reshaping and whole-body motion generation. task is fulfilled. The position of a foot is then derived to generate the motion of center of mass (CoM) ˙x CoM by using a dynamic walking pattern generator.7 Using this CoM motion, the original task is then redefined
http://www.swarthmore.edu/NatSci/mzucker1/papers/heavy_lifting_humanoids2014.pdf
challenges well, coupled with task-driven support polygon reshaping [12]. One major weakness of our planning method is that it assumes prior knowledge of the target object’s mass. A single plan may be valid for a range of object masses, depending on the size of the robot’s support polygon, but for heavy
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