基于图搜索和可达性地图的人形机器人移动操作规划
Humanoid Loco-manipulation Planning based on Graph Search and Reachability Maps
AI总结：
提出一种基于图搜索和可达性地图的人形机器人移动操作规划方法，将脚步与抓取的交替排序构建为图搜索问题，并通过重新定位和切换可达性地图快速评估转移模型，实现自主物体运输与操作。
摘要：
在这封信中，我们提出了一种高效且高度通用的移动操作规划方法，用于人形机器人。移动操作规划是使人形机器人能够通过操作自主执行物体运输的关键技术模块。我们将脚步和抓取的交替与排序规划，构建为一个带有新转移模型的图搜索问题，该模型允许灵活地表示移动操作。我们的转移模型通过根据机器人和物体的运动重新定位和切换可达性地图来快速评估。我们通过将其应用于移动操作用例来评估我们的方法，例如带重新抓取的线轴滚动操作，其运动由我们的框架自动规划。
英文摘要：
In this letter, we propose an efficient and highly versatile loco-manipulation planning for humanoid robots. Loco-manipulation planning is a key technological brick enabling humanoid robots to autonomously perform object transportation by manipulating them. We formulate planning of the alternation and sequencing of footsteps and grasps as a graph search problem with a new transition model that allows for a flexible representation of loco-manipulation. Our transition model is quickly evaluated by relocating and switching the reachability maps depending on the motion of both the robot and object. We evaluate our approach by applying it to loco-manipulation use-cases, such as a bobbin rolling operation with regrasping, where the motion is automatically planned by our framework.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
