Humanoid Loco-Manipulation Planning Based on Graph Search and Reachability Maps

Overview of attention for article published in IEEE Robotics and Automation Letters, February 2021

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bobbin rolling operation with regrasping, where the motion is automatically planned by our framework. [4/4 of https://arxiv.org/abs/2505.23505v1]

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 [3/4 o…

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 [2/4 of h…

arXiv:2505.23505v1 Announce Type: new Abstract: 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 [1/4 of htt…

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