Title :
Unified motion planning of passing under obstacles with humanoid robots
Author :
YOKOI, Kazuhito ; Yoshida, Eiichi ; Sanada, Hiroki
Author_Institution :
AIST, Univ. of Tsukuba, Tsukuba, Japan
Abstract :
A motion planning method for humanoid robots to pass under obstacles is proposed. The proposed motion planner can calculate a goal configuration and connect it with an initial configuration in a collision-free dynamically stable motion. The method can generate not only a body motion but also the footstep sequence. The effectiveness of the proposed method was validated by experiments with the humanoid robot HRP-2.
Keywords :
humanoid robots; path planning; collision-free dynamically stable motion; footstep sequence; humanoid robot; unified motion planning; Cathode ray tubes; Collision avoidance; Humanoid robots; Humans; Legged locomotion; Motion analysis; Motion planning; Navigation; Path planning; Timing;
Conference_Titel :
Robotics and Automation, 2009. ICRA '09. IEEE International Conference on
Conference_Location :
Kobe
Print_ISBN :
978-1-4244-2788-8
Electronic_ISBN :
1050-4729
DOI :
10.1109/ROBOT.2009.5152797
