Whole-Body Motion Planning for Humanoid Robots by Specifying Via-Points
Whole-Body Motion Planning for Humanoid Robots by Specifying Via-Points
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DOI：
10.5772/56747
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发表时间：
2013-07
影响因子：
2.3
通讯作者：
C. Sung;T. Kagawa;Y. Uno
中科院分区：
文献类型：
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作者：
C. Sung;T. Kagawa;Y. Uno
设计了一个仿人机器人全身运动规划的框架。具有各种约束条件的运动规划是任务成功的关键。在这项研究中，我们提出了一种运动规划方法，对应于各种条件，以实现任务。我们指定了一些途径点来处理的条件，根据各种约束条件的目标实现。连同某些约束，包括任务完成，通过点表示在我们的方法的优化过程中起着至关重要的作用。此外，作为优化参数的通路点与一些物理条件有关。我们应用这种方法来产生踢运动的仿人机器人HOAP-3。我们已经证实，除了改变球的位置条件外，机器人还能够完成将球踢过障碍物进入球门的任务。这些结果表明，所提出的使用通过点表示的运动规划方法可以提高运动的清晰度。
We design a framework about the planning of whole body motion for humanoid robots. Motion planning with various constraints is essential to success the task. In this research, we propose a motion planning method corresponding to various conditions for achieving the task. We specify some via-points to deal with the conditions for target achievement depending on various constraints. Together with certain constraints including task accomplishment, the via-point representation plays a crucial role in the optimization process of our method. Furthermore, the via-points as the optimization parameters are related to some physical conditions. We applied this method to generate the kicking motion of a humanoid robot HOAP-3. We have confirmed that the robot was able to complete the task of kicking a ball over an obstacle into a goal in addition to changing conditions of the location of a ball. These results show that the proposed motion planning method using via-point representation can increase articulation of the motion.