Multi-modal motion planning for a humanoid robot manipulation task


Journal Article

This paper presents a motion planner that enables a humanoid robot to push an object on a flat surface. The robot's motion is divided into distinct walking, reaching, and pushing modes. A discrete change of mode can be achieved with a continuous single-mode motion that satisfies mode-specific constraints (e.g. dynamics, kinematic limits, avoid obstacles). Existing techniques can plan well in single modes, but choosing the right mode transitions is difficult. Search-based methods are vastly inefficient due to over-exploration of similar modes. Our new method, Random-MMP, randomly samples mode transitions to distribute a sparse number of modes across configuration space. Results are presented in simulation and on the Honda ASIMO robot. © 2010 Springer-Verlag Berlin Heidelberg.

Full Text

Duke Authors

Cited Authors

  • Hauser, K; Ng-Thow-Hing, V; Gonzalez-Baños, H

Published Date

  • December 1, 2010

Published In

Volume / Issue

  • 66 / STAR

Start / End Page

  • 307 - 317

Electronic International Standard Serial Number (EISSN)

  • 1610-742X

International Standard Serial Number (ISSN)

  • 1610-7438

Digital Object Identifier (DOI)

  • 10.1007/978-3-642-14743-2_26

Citation Source

  • Scopus