We conduct research aiming at making a humanoid robot able to perform
a large range of motions in order to achieve various tasks in in-door
environments, for instance,
Our approach consists in augmenting object models with the information
useful to manipulate these object. See [Dalibard et al 2010] for details.
- walking in a cluttered environment,
- grasping an object,
- going through a door,
- opening or closing a window...
Whole-Body motion planning
hpp-gik is a software SDK that implements task-based inverse
kinematics. The sofware is released under license LGPL and can
be found on github.
To use this SDK, it is recommended to download
The movie below shows a simple motion produced by hpp-gik
including whole-body stepping and upper-body tasks.