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Whole-body task planning for a humanoid robot: a way to integrate collision avoidance

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4 Author(s)
Dalibard, S. ; LAAS, CNRS, Toulouse, France ; Nakhaei, A. ; Lamiraux, F. ; Laumond, J.-P.

This paper deals with motion planning for a humanoid robot under task constraints. It presents a novel random method, inspired by the RRT-connect algorithm, that uses a local task solver to generate statically stable collision-free configurations. It is able to plan motions for a large variety of tasks. In an experimental section, we compare in details this random strategy with a local collision avoidance method found in the literature.

Published in:

Humanoid Robots, 2009. Humanoids 2009. 9th IEEE-RAS International Conference on

Date of Conference:

7-10 Dec. 2009