Whole-Body Motion Planning for Manipulation of Articulated Objects with a Nao Humanoid (ICRA 2013)

This video demonstrates the results of the paper “Whole-Body Motion Planning for Manipulation of Articulated Objects“ by F. Burget, A. Hornung, and M. Bennewitz; to be presented at ICRA 2013. A Nao humanoid plans and executes whole-body motion plans for opening a drawer and a door, reaching into different shelfs of a cabinet, and picking up and placing an object. The scenarios involve statically stable, collision-free body repositioning and manipulation of articulated objects imposing additional moti