Title :
Motion separating based whole body motion planning for humanoid robots using a gradient descent method
Author :
Kwak, Hwan-Joo ; Park, Gwi-Tae
Author_Institution :
Dept. of Electr. Eng., Univ. of Korea, Seoul
Abstract :
This paper introduces whole body motion planning for humanoid robots that is fundamentally important for functioning of humanoid robots within the living space of humans. Humanoid robots have multiple degrees of freedom (DOF). Because of this multi-DOF structure, whole body motion planning of humanoid robots is difficult and complex. In this paper, we separated whole body motion of humanoid robots into several partial motions. Separating whole body motion into several partial motions, we can overcome the difficulty and complexity of whole body motion planning for humanoid robots with high degrees of freedom. Each separated partial motion has only 6 DOF: X, Y, Z, Pitch, Yaw, and Roll. Based on these low-degrees of freedom, we can utilize efficient motion planning algorithm. As an algorithm of partial motion planning, the gradient-descent method was used. The correctness and efficiency of our algorithm was established by conducting simulations and experiments on the humanoid robot simulator and physical humanoid robot using the whole body motion planning algorithm developed in this research.
Keywords :
gradient methods; humanoid robots; path planning; degrees of freedom; gradient descent method; humanoid robot; motion separating whole body motion planning; partial motions; Automatic testing; Biological system modeling; Humanoid robots; Humans; Intelligent robots; Joints; Mechatronics; Mobile robots; Motion control; Motion planning; Gradient-Descent Method; Humanoid Robot; Simulator; Whole Body Motion Planning;
Conference_Titel :
Advanced Intelligent Mechatronics, 2008. AIM 2008. IEEE/ASME International Conference on
Conference_Location :
Xian
Print_ISBN :
978-1-4244-2494-8
Electronic_ISBN :
978-1-4244-2495-5
DOI :
10.1109/AIM.2008.4601805