Toulouse
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News

ECC 2020: Actuator Model, Identification and Differential DynamicProgramming for a TALOS Humanoid Robot

N. Ramuzat, F. Forget, V. Bonnet, M. Gautier, S. Boria, O. Stasse Abstract—In this experimental paper, we would like to validate a non linear optimal control solver to realize torque control on actuators embedded in a TALOS humanoid robot. The targeted application involves high payload, thus, it is necessary to handle the mechanical limitations of…
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SII2020 : 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 Abstract : 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…
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SII 2020: Motion Planning with Multi-Contact and Visual Servoing on Humanoid Robots

K. Giraud–Esclasse, P. Fernbach, G. Buondonno, C. Mastalli, O. Stasse Abstract— This paper describes the implementation of a canonical motion generation pipeline guided by vision for aTALOS humanoid robot. The proposed system is using a multi-contact planner, a Differential Dynamic Programming (DDP) algorithm, and a stabilizer. The multi-contact planner provides a set of contacts and…
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