Sébastien Dalibard

Learn More
In this abstract, we present an overview of recent results on dynamic walking and whole-body motion planning for humanoid robots. First, we present the field of randomized algorithms used for constrained motion planning, and their application to humanoid whole-body motion planning. Further on, we introduce humanoid small-space controllability, a theoretical(More)
The paper presents a method to control random sampling in motion planning algorithms. The principle of the method is to use on line the results of a probabilistic planner to describe the free space in which the planning takes place, by computing a Principal Component Analysis (PCA). This method identifies the locally free directions of the free space. Given(More)
This paper deals with motion planning for a humanoid robot under task constraints. It presents a novel random method, inspired by the RRT-Connect algorithm, that uses a local task solver to generate statically stable collision-free configurations. It is able to plan motions for a large variety of tasks. In an experimental section, we compare in details this(More)
This paper presents a two-stage motion planner for walking humanoid robots. A first draft path is computed using random motion planning techniques that ensure collision avoidance. In a second step, the draft path is approximated by a whole-body dynamically stable walk trajectory. The contributions of this work are: (i) a formal guarantee, based on(More)
This paper deals with manipulation task planning for a humanoid robot while stepping. It introduces the concept of “documented” objects, i.e. objects that provide information on how to manipulate them. The planning phase is decoupled into two parts. First a random motion planner uses the documentation of the object to quickly plan a collision free motion(More)
This paper presents an interactive dynamic controller used to generate locomotion patterns for humanoid robots. The purpose of this work is to provide animators and artists easy and intuitive tools to design expressive motions for humanoid robots. A review of similar work in the computer animation community has guided our choices regarding the(More)
Robot localization is a key barrier to providing natural interaction between 3D virtual characters, human users and mobile robots. Knowing where the robot is, relative to a known world-frame, is essential to directed gestures, gazes and expressions between the robot and the other real and virtual participants in a telepresence system. The intrinsic noise of(More)
  • 1