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Non-gaited humanoid locomotion planning

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3 Author(s)
Hauser, K. ; Stanford Univ., CA ; Bretl, T. ; Latombe, J.-C.

This paper presents a non-gaited motion planner for humanoid robots navigating very uneven and sloped terrain. The planner allows contact with any pre-designated part of the robot's body, since the use of hands or knees (in addition to feet) may be required to balance. It uses a probabilistic, sample-based approach to compute each step. One challenge of this approach is that most randomly sampled configurations do not satisfy all motion constraints (closed-chain, equilibrium, collision). To address this problem, a method of iterative constraint enforcement is presented that samples feasible configurations much more quickly. Example motions planned for the humanoid robot HRP-2 are shown in simulation

Published in:

Humanoid Robots, 2005 5th IEEE-RAS International Conference on

Date of Conference:

5-5 Dec. 2005