Paper Info
Title
Thinning and smoothing of randomly-sampled support transitions toward practical motion planning for humanoid robots
Abstract
A motion planning method for humanoid robots in life environments is proposed based on a two-stage approach, where a sequence of double support postures to represent discrete milestones of the biped locomotion is planned first, and then, a time series of the whole body configuration to interpolate them. This paper discusses the first stage. RRT (Rapidly-explored Random Tree) is utilized for the planning. The main problem is how to modify the sequence of randomly sampled double support postures into practically acceptable one. Some post-processing techniques including thinning and smoothing are presented. A necessary condition of the series of milestones is that a pair of adjacent postures has to share one fixed supporting foot as the pivot. In order to thin out unnecessary milestones, bypass nodes are inserted and Dijkstra's method is applied. A computer simulation in which a humanoid robot travels in an environment with some pieces of furniture is demonstrated.
Year
DOI
Venue
2010
10.1109/IROS.2010.5654412
Intelligent Robots and Systems
Keywords
Field
DocType
humanoid robots,legged locomotion,motion control,path planning,Dijkstra's method,RRT,biped locomotion,bypass nodes,discrete milestones,double support postures,humanoid robots,interpolation,life environments,motion planning,randomly-sampled support transitions,rapidly-explored random tree,smoothing,thinning,time series
Motion planning,Random tree,Computer vision,Motion control,Computer science,Simulation,Interpolation,Smoothing,Artificial intelligence,Milestone (project management),Dijkstra's algorithm,Humanoid robot
Conference
ISSN
ISBN
Citations 
2153-0858
978-1-4244-6674-0
2
PageRank 
References 
Authors
0.39
8
2
Name
Order
Citations
PageRank
Toshiya Nishi120.39
Tomomichi Sugihara251.13