Non-gaited humanoid locomotion planning
Published
Conference Paper
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. © 2005 IEEE.
Full Text
Duke Authors
Cited Authors
- Hauser, K; Bretl, T; Latombe, JC
Published Date
- December 1, 2005
Published In
- Proceedings of 2005 5th Ieee Ras International Conference on Humanoid Robots
Volume / Issue
- 2005 /
Start / End Page
- 7 - 12
International Standard Book Number 10 (ISBN-10)
- 0780393201
International Standard Book Number 13 (ISBN-13)
- 9780780393202
Digital Object Identifier (DOI)
- 10.1109/ICHR.2005.1573537
Citation Source
- Scopus