Agimus: a new framework for mapping manipulation motion plans to sequences of hierarchical task-based controllers

A. Nicolin, J. Mirabel, S. Boria, O. Stasse, F. Lamiraux
2020 2020 IEEE/SICE International Symposium on System Integration (SII)  
In this paper we present the integration of a manipulation motion planner involving multiple contacts with an automated generator of controllers to execute the manipulation tasks. The novelty of the method is not only to produce a configuration space trajectory but also automatically formulate the controllers that perform the tasks while keeping balance on a humanoid robot. We demonstrate this approach fully integrated on a real Talos humanoid robot while using controllers formulated as a sequence of hierarchical Stack-of-Tasks.
doi:10.1109/sii46433.2020.9026288 dblp:conf/sii/NicolinMBSL20 fatcat:q7gko56gu5b5vhdjnuysnambcu