Name
Title | ||
|---|---|---|
Efficient Locomotion Planning for a Humanoid Robot with Whole-Body Collision Avoidance Guided by Footsteps and Centroidal Sway Motion |
Abstract | ||
|---|---|---|
In this paper, we propose a locomotion planning framework for a humanoid robot with an efficient footstep and whole-body collision avoidance planning, which enables the robot to traverse an unknown narrow space while utilizing its body structure like a human. The key idea of the proposed method is to reduce a large computational cost for the whole-body locomotion planning by executing global footstep planning first, which has a much smaller search space, and then performing a sequential whole-body posture planning while utilizing the resulting footsteps and a centroidal trajectory as a guide. In the global footstep planning phase, we modify bounding box of the robot based on the centroidal sway motion. This idea enables the planner to obtain appropriate footsteps for next whole-body motion planning. Then, we execute sequential whole-body collision avoidance motion planning by prioritized inverse kinematics based on the resulting footsteps and centroidal trajectory, which enables the robot to plan whole-body collision avoidance motion for each step within less than 100ms at worst. The major contribution of our paper is solving the problem of the increasing computational cost for whole-body motion planning and enabling a humanoid robot to execute adaptive locomotion planning on the spot in an unknown narrow space. |
Year | DOI | Venue |
|---|---|---|
2018 | 10.1109/HUMANOIDS.2018.8624927 | 2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids) |
Keywords | Field | DocType |
centroidal trajectory,global footstep planning phase,centroidal sway motion,whole-body collision avoidance motion planning,humanoid robot,adaptive locomotion planning,locomotion planning framework,whole-body locomotion planning,whole-body posture,prioritized inverse kinematics | Motion planning,Inverse kinematics,Computer science,Control theory,Collision,Robot,Trajectory,Traverse,Humanoid robot,Minimum bounding box | Conference |
ISSN | ISBN | Citations |
2164-0572 | 978-1-5386-7284-6 | 0 |
PageRank | References | Authors |
0.34 | 13 | 4 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Kumagai, I. | 1 | 7 | 5.29 |
| Mitsuharu Morisawa | 2 | 647 | 49.09 |
| Shinichiro Nakaoka | 3 | 461 | 32.58 |
| Fumio KANEHIRO | 4 | 2304 | 204.18 |