Regrasp planning for pivoting manipulation by a humanoid robot


A method of regrasp planning for humanoid robot manipulation is proposed. We adopt pivoting manipulation for the humanoid robot to move a bulky object without lifting in a stable and dexterous manner. In order to carry the object to a desired place, the humanoid should sometimes move through narrow areas surrounded by obstacles. We propose a roadmap… (More)
DOI: 10.1109/ROBOT.2009.5152540


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@article{Yoshida2009RegraspPF, title={Regrasp planning for pivoting manipulation by a humanoid robot}, author={Eiichi Yoshida and Mathieu Poirier and Jean-Paul Laumond and Oussama Kanoun and Florent Lamiraux and Rachid Alami and Kazuhito Yokoi}, journal={2009 IEEE International Conference on Robotics and Automation}, year={2009}, pages={2467-2472} }