Whole-Body Motion Planning for Humanoid Robots by Specifying Via-Points. (26th July 2013)

• Record Type: Journal Article
• Authors: Sung, ChangHyun; Kagawa, Takahiro; Uno, Yoji
• Is Part Of: International journal of advanced robotic systems. Volume 10:Number 7(2013)
• Publication Date: 2013-07-26
• Subjects: Decentralized Control -- High-Order Neural Networks -- Extended Kalman Filter -- Backstepping; Robotics -- Periodicals; Robotics; Periodicals; 629.892
• DOI: 10.5772/56747
• Languages: English
• ISSNs: 1729-8806

Abstract

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.