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- W2738358082 abstract "We consider the problem of planning whole-body motions for humanoids that must execute loco-manipulation tasks, i.e., manipulation tasks that implicitly require a locomotion phase. The proposed planner builds a tree in configuration-time space by concatenating feasible, collision-free whole-body motions that realize a succession of CoM movement primitives and, at the same time, the assigned manipulation task. To obtain fluid, natural motions we identify three zones of operation, i.e, locomotion, loco-manipulation and manipulation, and we carefully design a mechanism that allows to synchronize the two tasks. The proposed method has been implemented in V-REP for the NAO humanoid and successfully tested in various scenarios of increasing complexity." @default.
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- W2738358082 date "2017-05-01" @default.
- W2738358082 modified "2023-09-25" @default.
- W2738358082 title "Humanoid whole-body planning for loco-manipulation tasks" @default.
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- W2738358082 doi "https://doi.org/10.1109/icra.2017.7989550" @default.
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