Dynamic walking and whole-body motion planning for humanoid robots: an integrated approach

Authors:
Sébastien Dalibard;Antonio El Khoury;Florent Lamiraux;Alireza Nakhaei;Michel Taïx;Jean-Paul Laumond
Affiliations:
CNRS, LAAS, Toulouse, France, Univ de Toulouse, LAAS, Toulouse, France, Aldebaran Robotics, Paris, France;CNRS, LAAS, Toulouse, France, Univ de Toulouse, LAAS, Toulouse, France;CNRS, LAAS, Toulouse, France, Univ de Toulouse, LAAS, Toulouse, France;CNRS, LAAS, Toulouse, France, Univ de Toulouse, LAAS, Toulouse, France;CNRS, LAAS, Toulouse, France, Univ de Toulouse, LAAS, Toulouse, France;CNRS, LAAS, Toulouse, France, Univ de Toulouse, LAAS, Toulouse, France
Venue:
International Journal of Robotics Research
Year:
2013

Citing 7
Cited 0

A 2-stages locomotion planner for digital actors

Proceedings of the 2003 ACM SIGGRAPH/Eurographics symposium on Computer animation
Motion Planning of Multi-Limbed Robots Subject to Equilibrium Constraints: The Free-Climbing Robot Problem

International Journal of Robotics Research
Numerical Optimization: Theoretical and Practical Aspects (Universitext)

Numerical Optimization: Theoretical and Practical Aspects (Universitext)
Bounding on rough terrain with the LittleDog robot

International Journal of Robotics Research
Sampling-based algorithms for optimal motion planning

International Journal of Robotics Research
Task Space Regions: A framework for pose-constrained manipulation planning

International Journal of Robotics Research
Randomized path planning on manifolds based on higher-dimensional continuation

International Journal of Robotics Research

Quantified Score

Hi-index	0.00

Visualization

Abstract

This paper presents a general method for planning collision-free whole-body walking motions for humanoid robots. First, we present a randomized algorithm for constrained motion planning, that is used to generate collision-free statically balanced paths solving manipulation tasks. Then, we show that dynamic walking makes humanoid robots small-space controllable. Such a property allows to easily transform collision-free statically balanced paths into collision-free dynamically balanced trajectories. It leads to a sound algorithm which has been applied and evaluated on several problems where whole-body planning and walk are needed, and the results have been validated on a real HRP-2 robot.