Dynamically-stable Motion Planning
for Humanoid Robots
- James Kuffner, Jr.
- Satoshi Kagami
- Masayuki Inaba
- Hirochika Inoue
- Department of Mechano-Informatics
- The University of Tokyo
- 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656 JAPAN
Abstract
We present an algorithm for computing stable collision-free motions
for humanoid robots given full-body posture goals. The motion planner
is part of a simulation environment under development for providing
high-level software control for humanoid robots. Given a robot's
internal model of the environment and a statically-stable desired
posture, we use a randomized path planner to search the configuration
space of the robot for a collision-free path. Balance constraints are
imposed on incremental search motions in order to maintain the overall
dynamic stability of the computed trajectories. The algorithm is
presented along with preliminary results using an experimental
implementation on a dynamic model of the H5 humanoid robot.
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