The robot grasp each of 8 parts, move them to the caroussel where they are processed, put them back to the initially empty tray, and finally stacks the empty tray on top of the full tray.
Manipulation planning
A sequence of tasks is automatically discovered during the planning in order to swap the position of the boxes.
Manipulation planning
Romeo rotates a placard. Each hand can grasp the placard with one degree of freedom in rotation, thus the space of valid grasps for each hand is continuous. This case illustrates the crossing foliation issue.
Multi-contact locomotion - Stand up
A sequence of contact configurations for a multiped robot is computed. Position constraint and static equilibrium constraint are used to create and maintain contacts along the sequence.
Constraint based path optimization
Path optimization algorithm based on collision constraints, automatically built between bodies close to collision.
Elastic rod planning.
Integration of external software: QSERL and XDE are used to implement a dedicated steering method for elastic rod planning. Engine model courtesy of Siemens-KineoCAM.
Manipulation planning with tool use inference
Manipulation planning with tool use inference
Locomotion planning expressed as a manipulation planning problem
The locomotion planning problem is expressed as a Manipulation planning problem.
HPP demonstration
Differents features that can be achieved using the Humanoid Path Planner
HPP manipulation stack demonstration
Differents features that can be achieved using the manipulation stack of the Humanoid Path Planner