Generating Humanoid Multi-Contact through Feasibility Visualization
This video describes an approach to generate complex, multi-contact motion trajectories using user guidance provided through Virtual Reality. User input is useful to reduce the search space through defined key frame. We show these results on the humanoid robot, Valkyrie, from NASA Johnson Space Center, in both simulation and on hardware. This video accompanies our publication in the 2023 IEEE-RAS International Conference on Humanoid Robotics titled "A Virtual-Reality Driven Approach for Generating Humanoid Multi-Contact Trajectories", which can be found on arXiv: https://arxiv.org/pdf/2303.08232.
Visit our website at https://robots.ihmc.us.
Research was supported by NASA Johnson Space Center.