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

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...

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Bibliographic Details
Published in:The International journal of robotics research 2013-08, Vol.32 (9-10), p.1089-1103
Main Authors: Dalibard, Sébastien, El Khoury, Antonio, Lamiraux, Florent, Nakhaei, Alireza, Taïx, Michel, Laumond, Jean-Paul
Format: Article
Language:English
Subjects:
Algorithms
Balancing
Computer Science
Controllers
Dynamics
Humanoid
Kinematics
Motion planning
Robotics
Robots
Tasks
Walking
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Summary: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.
ISSN:0278-3649
1741-3176
DOI:10.1177/0278364913481250