Planning Fine Motions for a Digital Factotum
Gustavo Arechavaleta, Claudia Esteves and Jean-Paul Laumond
This paper presents a motion planner for a digital mannequin carrying objects in cluttered environments. The goal is to account for 3-dimensional obstacle avoidance,
eye-convincing locomotion as well as manipulation constraints within an integrated motion planning approach. This approach combines probabilistic path planning methods, a motion
capture based walking controller and inverse kinematics techniques.
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