Agimus: a new framework for mapping manipulation motion plans to sequences of hierarchical task based controllers

A. Nicolin, J. Mirabel, S. Boria, O. Stasse, F. Lamiraux,
IEEE Int. Symp. on System Integration, 2020, HAL Publisher Bib

Abstract:

In this paper we present the integration of a manipulation motion planner involving multiple contacts with an automated generator of controllers to execute the manipulation tasks. The novelty of the method is not only to produce a configuration space trajectory but also automatically formulate the controllers that perform the tasks while keeping balance on a humanoid robot. We demonstrate this approach fully integrated on a real Talos humanoid robot while using controllers formulated as a sequence of hierarchical Stack-of-Tasks.