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- W2142468282 abstract "This paper deals with the motion planning of a poly-articulated robotic system for which support contacts are allowed to occur between any part of the body and any part of the environment. Starting with a description of the environment and of a target, it computes a sequence of postures that allow our system to reach its target. We describe a very generic architecture of this planner, highly modular, as well as a first implementation of it. We then present our results, both simulations and real experiments, for a simple grasping task using the HRP-2 humanoid robot." @default.
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- W2142468282 date "2006-10-01" @default.
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- W2142468282 title "Planning support contact-points for humanoid robots and experiments on HRP-2" @default.
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- W2142468282 doi "https://doi.org/10.1109/iros.2006.282154" @default.
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