Dynamically-Stable Motion Planning for Humanoid Robots

  • Authors:

  • James J. Kuffner, Jr.;Satoshi Kagami;Koichi Nishiwaki;Masayuki Inaba;Hirochika Inoue

  • Affiliations:

  • Robotics Institute, Carnegie Mellon University, 5000 Forbes Ave., Pittsburgh, PA 15213, USA. kuffner@andrew.cmu.edu;Digital Human Lab., National Institute of Advanced Industrial Science and Technology, 2-41-6, Aomi, Koto-ku, Tokyo, 135-0064, Japan. s.kagami@aist.go.jp;Department of Mechano-Informatics, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan. nishi@jsk.t.u-tokyo.ac.jp;Department of Mechano-Informatics, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan. inaba@jsk.t.u-tokyo.ac.jp;Department of Mechano-Informatics, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan. inoue@jsk.t.u-tokyo.ac.jp

  • Venue:
  • Autonomous Robots
  • Year:
  • 2002

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Abstract

We present an approach to path planning for humanoid robots that computes dynamically-stable, collision-free trajectories from full-body posture goals. Given a geometric model of the environment and a statically-stable desired posture, we search the configuration space of the robot for a collision-free path that simultaneously satisfies dynamic balance constraints. We adapt existing randomized path planning techniques by imposing balance constraints on incremental search motions in order to maintain the overall dynamic stability of the final path. A dynamics filtering function that constrains the ZMP (zero moment point) trajectory is used as a post-processing step to transform statically-stable, collision-free paths into dynamically-stable, collision-free trajectories for the entire body. Although we have focused our experiments on biped robots with a humanoid shape, the method generally applies to any robot subject to balance constraints (legged or not). The algorithm is presented along with computed examples using both simulated and real humanoid robots.