Non-gaited humanoid locomotion planning

Kris Hauser, Tim Bretl, Jean Claude Latombe

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper presents a non-gaited motion planner for humanoid robots navigating very uneven and sloped terrain. The planner allows contact with any pre-designated part of the robot's body, since the use of hands or knees (in addition to feet) may be required to balance. It uses a probabilistic, sample-based approach to compute each step. One challenge of this approach is that most randomly sampled configurations do not satisfy all motion constraints (closed-chain, equilibrium, collision). To address this problem, a method of iterative constraint enforcement is presented that samples feasible configurations much more quickly. Example motions planned for the humanoid robot HRP-2 are shown in simulation.

Original languageEnglish (US)
Title of host publicationProceedings of 2005 5th IEEE-RAS International Conference on Humanoid Robots
Pages7-12
Number of pages6
DOIs
StatePublished - 2005
Externally publishedYes
Event2005 5th IEEE-RAS International Conference on Humanoid Robots - Tsukuba, Japan
Duration: Dec 5 2005Dec 7 2005

Publication series

NameProceedings of 2005 5th IEEE-RAS International Conference on Humanoid Robots
Volume2005

Other

Other2005 5th IEEE-RAS International Conference on Humanoid Robots
Country/TerritoryJapan
CityTsukuba
Period12/5/0512/7/05

Keywords

  • Equilibrium
  • Humanoid robots
  • Motion planning
  • Multi-step planning
  • Non-gaited locomotion

ASJC Scopus subject areas

  • Engineering(all)

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