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We consider the manipulation planning problem of an extensible elastic rod in collision-free or contact space. We assume the rod can be handled by grippers either at both or at only one of its extremities and during the ...
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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 randomized algorithm for constrained motion planning, that is used to generate collisio...
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Les travaux présentés dans ce manuscrit d'Habilitation à Diriger des Recherches concernent la problématique de la planification de trajectoires pour un système robotique. Nous présentons des méthodes et des algorithmes q...