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Communication Dans Un Congrès Année : 2008

Integrating Dynamics into Motion Planning for Humanoid Robots

Résumé

This paper proposes an whole body motion planning method for humanoid robots in which dynamics is integrated. The method consists of two stages. A collision-free and statically stable path is planned in the first stage and it is transformed into a dynamically stable trajectory in the second stage. Contributions of the method is summarized as follows. (1) A local method plans a C 1 path while avoiding collisions between non-strictly convex objects. (2) The second stage gives the minimum time trajectory by time parameterization under dynamic balance constraints. (3) Any path reshaping for recovering collision-freeness is not required since the second stage doesn't change shape of the path. Effectiveness of the method is examined by applying it to scenarios of a humanoid robot HRP-2.
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Dates et versions

hal-04453597 , version 1 (12-02-2024)

Identifiants

  • HAL Id : hal-04453597 , version 1

Citer

Fumio Kanehiro, Wael Suleiman, Florent Lamiraux, Eiichi Yoshida, Jean-Paul Laumond. Integrating Dynamics into Motion Planning for Humanoid Robots. International Conference on Intelligent Robots and Systems ( 2008), IEEE; RSJ, Sep 2008, Nice, France. ⟨hal-04453597⟩
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