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