Motion planning and autonomy for virtual humans
ACM SIGGRAPH 2008 classes
Pivoting based manipulation by a humanoid robot
Autonomous Robots
Complementarity-based dynamic simulation for kinodynamic motion planning
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
From human to humanoid locomotion--an inverse optimal control approach
Autonomous Robots
Planning foot placements for a humanoid robot: A problem of inverse kinematics
International Journal of Robotics Research
International Journal of Robotics Research
Petri-net-based implementations for FIRA weightlifting and sprint games with a humanoid robot
Robotics and Autonomous Systems
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We propose a general and practical planning framework for generating 3-D collision-free motions that take complex robot dynamics into account. The framework consists of two stages that are applied iteratively. In the first stage, a collision-free path is obtained through efficient geometric and kinematic sampling-based motion planning. In the second stage, the path is transformed into dynamically executable robot trajectories by dedicated dynamic motion generators. In the proposed iterative method, those dynamic trajectories are sent back again to the first stage to check for collisions. Depending on the application, temporal or spatial reshaping methods are used to treat detected collisions. Temporal reshaping adjusts the velocity, whereas spatial reshaping deforms the path itself. We demonstrate the effectiveness of the proposed method through examples of a space manipulator with highly nonlinear dynamics and a humanoid robot executing dynamic manipulation and locomotion at the same time.