Humanoid motion planning for dynamic tasks

This paper addresses an integrated humanoid motion planning scheme including both advanced algorithmic motion planning technique and dynamic pattern generator so that the humanoid robot achieve tasks including dynamic motions. A two-stage approach is proposed for this goal. First, geometric and kine...

Full description

Saved in:
Bibliographic Details
Main Authors: Yoshida, E., Belousov, I., Esteves, C., Laumond, J.-P.
Format: Conference Proceeding
Language:English
Subjects:
Humanoid robots
Humans
Intelligent robots
Kinematics
Legged locomotion
Manipulator dynamics
Motion control
Motion planning
Robustness
Transportation
Online Access:Request full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:This paper addresses an integrated humanoid motion planning scheme including both advanced algorithmic motion planning technique and dynamic pattern generator so that the humanoid robot achieve tasks including dynamic motions. A two-stage approach is proposed for this goal. First, geometric and kinematic motion planner first computes collision-free paths for the humanoid robot. Then the dynamic pattern generator provides dynamically feasible humanoid motion including both locomotion and task execution such as object transportation or manipulation. If the generated dynamic motion causes collision due to dynamic movements, the planner go back to the planning stage to remove the collision by path reshaping. This iterative planning scheme enables robust planning against variation of task dynamics. Simulation results are provided to validate the proposed planning method
ISSN:2164-0572
DOI:10.1109/ICHR.2005.1573536