Sébastien Dalibard

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This paper presents a general method for planning collision-free whole-body walking motions for humanoid robots. First, we present a random-ized algorithm for constrained motion planning, that is used to generate collision-free statically balanced paths solving manipulation tasks. Then, we show that dynamic walking makes humanoid robots small-space(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(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(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 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)
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