2A1-D13 Motion planning in the active workspace of humanoid robot

Stair climbing is still a challenging task for humanoid robots, especially in unknown environments. In this paper, we address this problem from perception to execution. Our first contribution is a real-time plane-segment estimation method using Lidar data without prior models of the staircase. We then integrate this solution with humanoid motion planning. Our second contribution is a stair-climbing motion generator where estimated plane segments are used to compute footholds and stability polygons. We evaluate our method on various staircases. We also demonstrate the feasibility of the generated trajectories in a real-life experiment with the humanoid robot HRP-4.

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Motion Planning for a Humanoid Robot Based on a Biped Walking Pattern Generator

Motion Planning for Humanoid Robots ◽

10.1007/978-1-84996-220-9_7 ◽

2010 ◽

pp. 181-204 ◽

Cited By ~ 3

Author(s):

Kensuke Harada

Keyword(s):

Motion Planning ◽

Humanoid Robot ◽

Pattern Generator ◽

Biped Walking ◽

Walking Pattern

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Dynamics and Simulation of General Human and Humanoid Motion in Sports

Digital Sport for Performance Enhancement and Competitive Evolution ◽

10.4018/978-1-60566-406-4.ch003 ◽

2011 ◽

pp. 36-62 ◽

Cited By ~ 1

Author(s):

Veljko Potkonjak ◽

Miomir Vukobratovic ◽

Kalman Babkovic ◽

Branislav Borovac

Keyword(s):

Mathematical Models ◽

Motion Planning ◽

Mathematical Analysis ◽

Humanoid Robot ◽

Dynamic Control ◽

Humanoid Robots ◽

Assistive Devices ◽

Kinematics And Dynamics ◽

Biologically Inspired ◽

Biologically Inspired Robot

This chapter relates biomechanics to robotics. The mathematical models are derived to cover the kinematics and dynamics of virtually any motion of a human or a humanoid robot. Benefits for humanoid robots are seen in fully dynamic control and a general simulator for the purpose of system designing and motion planning. Biomechanics in sports and medicine can use these as a tool for mathematical analysis of motion and disorders. Better results in sports and improved diagnostics are foreseen. This work is a step towards the biologically-inspired robot control needed for a diversity of tasks expected in humanoids, and robotic assistive devices helping people to overcome disabilities or augment their physical potentials. This text deals mainly with examples coming from sports in order to justify this aspect of research.

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Walking Motion Generation and Validation of Biped Humanoid Robot

Advanced Materials Research ◽

10.4028/www.scientific.net/amr.591-593.1386 ◽

2012 ◽

Vol 591-593 ◽

pp. 1386-1390

Author(s):

Bo Tu ◽

Dan Pu Zhao ◽

Xian Qing Tai

Keyword(s):

Motion Planning ◽

Dynamic Model ◽

Humanoid Robot ◽

Interpolation Method ◽

Spline Interpolation ◽

The State ◽

Significant Issue ◽

Motion Generation ◽

Walking Motion

Walking motion generation and validation have been a significant issue for biped humanoid robot. To generate more natural walking motions, and confirm the validity rapidly, this paper presents work on walking motion planning and validity verifying. Based on spline interpolation method, the walking motions in both sagittal and lateral planes are generated. Dynamic model is constructed with the toolbox of SimMechanics for Matlab, and the interactive forces between robot’s sole and ground are constrained in order to depict the state of balance. Dynamic model is driven by the walking motions which have been generated. The simulation and analysis demonstrate the validity of the motion which has been designed.

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