Differents features that can be achieved using the manipulation stack of the Humanoid Path Planner

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.

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).

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.

The locomotion planning problem is expressed as a Manipulation planning problem.

Path optimization algorithm based on collision constraints, automatically built between bodies close to collision.

A sequence of tasks is automatically discovered during manipulation planning in order to swap the position of the boxes.

Solution to an assembly task computed by the software platform HPP

This video illustrates our research in manipulation planning and sensor-based motion control.