Whole-Body Motion Planning for Humanoid Robots by Specifying Via-Points

• Sung, ChangHyun

• Kagawa, Takahiro

• Uno, Yoji

抄録

We design a framework about the planning of whole body motion for humanoid robots. Motion planning with various constraints is essential to success the task. In this research, we propose a motion planning method corresponding to various conditions for achieving the task. We specify some via-points to deal with the conditions for target achievement depending on various constraints. Together with certain constraints including task accomplishment, the via-point representation plays a crucial role in the optimization process of our method. Furthermore, the via-points as the optimization parameters are related to some physical conditions. We applied this method to generate the kicking motion of a humanoid robot HOAP-3. We have confirmed that the robot was able to complete the task of kicking a ball over an obstacle into a goal in addition to changing conditions of the location of a ball. These results show that the proposed motion planning method using via-point representation can increase articulation of the motion.

収録刊行物

• International Journal of Advanced Robotic Systems

  International Journal of Advanced Robotic Systems 10 300-300, 2013-07

  INTECH

キーワード

• Decentralized Control
• High-Order Neural Networks
• Extended Kalman Filter
• Backstepping

詳細情報

• CRID: 1050845763733573504
• NII論文ID: 120005496469
• DOI: 10.5772/56747
• HANDLE: 2237/20760
• ISSN: 17298806
• ISSN: 17298814
• Web Site: https://nagoya.repo.nii.ac.jp/records/18663
• Web Site: http://journals.sagepub.com/doi/pdf/10.5772/56747
• Web Site: http://journals.sagepub.com/doi/full-xml/10.5772/56747
• 本文言語コード: en
• 資料種別: journal article
• データソース種別:
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