Unified motion planning of passing under obstacles with humanoid robots

Authors:
Kazuhito Yokoi;Eiichi Yoshida;Hiroki Sanada
Affiliations:
AIST, CNRS-AIST JRL, and University of Tsukuba, Umezono, Tsukuba, Japan;AIST, CNRS-AIST JRL, and University of Tsukuba, Umezono, Tsukuba, Japan;University of Tsukuba, Tsukuba, Japan
Venue:
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Year:
2009

Citing 4
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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.