Technology Category
Intelligent Robots: Motion and Path PlanningHumans and AI: Human-Aware Planning and Behavior PredictionPlanning, Routing, and Scheduling: Replanning and Plan Repair
Task and Motion Planning for Humanoid Loco-manipulation
🤖 AI Summary
This paper addresses the fragmentation between task planning and motion control in humanoid robot loco-manipulation. We propose a unified task and motion planning (TAMP) framework that employs contact modes as high-level symbolic representations—enabling, for the first time, fully acyclic, dynamics-driven integrated TAMP. Our method jointly incorporates whole-body dynamics, robot–object–environment contact constraints, and object interaction models, combining high-order trajectory optimization with combinatorial search. Unlike conventional hierarchical approaches, our framework supports physically consistent, long-horizon, multimodal behavior generation. Experimental validation on a real humanoid robot demonstrates autonomous execution of complex, logic-intensive loco-manipulation tasks—including stepping-and-grasping and push-pull transport—over extended durations. The framework significantly improves task adaptability and behavioral consistency while ensuring dynamic feasibility and contact-aware coordination.
Technology Category
Application Category
📝 Abstract
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 low-level 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.
Problem
Research questions and friction points this paper is trying to address.
Unifying humanoid locomotion and manipulation planning
Integrating task, contact, and motion planning with dynamics
Generating physically consistent long-sequence loco-manipulation behaviors
Innovation
Methods, ideas, or system contributions that make the work stand out.
Unified contact mode representation for loco-manipulation
Symbolic actions grounded in contact mode changes
Integrated TAMP with whole-body dynamics constraints
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