Fast Manipulation Path Planning for Humanoid Robots
نویسندگان
چکیده
|We present an interactive manipulation path planner under development for providing high-level task-based control for humanoid robots. Using a graphical simulation environment, the software is designed to facilitate the automation of object grasping and manipulation tasks. A randomized path planner is used to directly search the free con guration space of the robot for a collision-free manipulation path. Experimental results are shown using a model of the dynamic humanoid \H6" robot in a virtual world.
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تاریخ انتشار 2007