2025/08/16 by Michal Ciebielski, Victor Dhédin, Ciebielski, Michal +3 · 1 citation
Engineering · #Robot Manipulation and Learning #Robotic Locomotion and Control #Robotic Mechanisms and Dynamics
paper · pdf · doi:10.1109/humanoids65713.2025.11203197
This work presents an optimization-based task and motion planning (TAMP) framework that unifies planning for locomotion and manipulation through a shared representation of contact modes. We define symbolic actions as contact mode changes, grounding high-level planning in lowlevel motion. This enables a unified search that spans task, contact, and motion planning while incorporating whole-body dynamics, as well as all constraints between the robot, the manipulated object, and the environment. Results on a humanoid platform show that our method can generate a broad range of physically consistent loco-manipulation behaviors over long action sequences requiring complex reasoning. To the best of our knowledge, this is the first work that enables the resolution of an integrated TAMP formulation with fully acyclic planning and whole body dynamics with actuation constraints for the humanoid loco-manipulation problem. A supplementary video demonstrating the results is available<sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">2</sup><sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">2</sup>https://youtu.be/og3T4VfXzc here.