Cart (Loading....) | Create Account
Close category search window

Time Efficient Hybrid Motion Planning Algorithm for HOAP-2 Humanoid Robot

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $31
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Elmogy, Mohammed ; Department of Informatics, MIN Faculty, University of Hamburg, Germany ; Habel, Christopher ; Zhang, Jianwei

The development of practical motion planning algorithms and obstacle avoidance techniques is considered as one of the most important fields of study in the task of building autonomous or semiautonomous robot systems. The motion planners designed for humanoid robots combine both path planning generation and the ability of executing the resulting path with respect to their characteristics. These planners should consider the specific dynamical constraints and stability problems of the humanoid robots. In this paper, we present a time-efficient hybrid motion planning system for a Fujitsu HOAP-2 humanoid robot in indoor and miniature city environments. The proposed technique is a combination of sampling-based planner and D* Lite search to generate dynamic footstep placements in unknown environments. It generates the search space depending on non-uniform sampling of the free configuration space to direct the computational resources to troubled and difficult regions. D* Lite search is then implemented to find dynamic and low-cost footstep placements within the resulting configuration space. The proposed hybrid algorithm reduces the searching time and produces a smoother path for the humanoid robot with low cost.

Published in:

Robotics (ISR), 2010 41st International Symposium on and 2010 6th German Conference on Robotics (ROBOTIK)

Date of Conference:

7-9 June 2010

Need Help?

IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.