Non-gaited humanoid locomotion planning


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