A survey of motion planning techniques for humanoid robots
A survey of motion planning techniques for humanoid robots
复制标题
仿人机器人运动规划技术综述
DOI：
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发表时间：
2020
期刊：
影响因子：
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通讯作者：
Masaki Murooka
中科院分区：
文献类型：
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作者：
Y. Tazaki;Masaki Murooka
本文简要介绍了仿人机器人的运动规划技术。在构成类人机器人运动规划的广泛框架的各种相关主题中，本文涵盖了两个积极研究的主题，即基于低维动力学模型的双足运动规划和涉及非共面和非预定接触的多接触问题。针对这两类规划问题，在回顾了规划问题的理论背景和常用的规划问题表述之后，对现有的规划方法进行了概念分类，并讨论了各自的优缺点。
This paper provides a brief survey of motion planning techniques for humanoid robots. Among various related topics that constitute the broad framework of motion planning of humanoid robots, this paper covers two actively researched topics, namely, bipedal locomotion planning based on low dimensional dynamical models and multi-contact problems that involve non-coplanar and non-scheduled contact. For each of these two classes of planning problems, after reviewing the theoretical background and commonly used problem formulation, existing planning methods are classified based on their concepts and their respective advantages and shortcomings are discussed.