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Dynamically-Stable Motion Planning for Humanoid Robots

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Abstract

We present an approach to path planning for humanoid robots that computes dynamically-stable, collision-free trajectories from full-body posture goals. Given a geometric model of the environment and a statically-stable desired posture, we search the configuration space of the robot for a collision-free path that simultaneously satisfies dynamic balance constraints. We adapt existing randomized path planning techniques by imposing balance constraints on incremental search motions in order to maintain the overall dynamic stability of the final path. A dynamics filtering function that constrains the ZMP (zero moment point) trajectory is used as a post-processing step to transform statically-stable, collision-free paths into dynamically-stable, collision-free trajectories for the entire body. Although we have focused our experiments on biped robots with a humanoid shape, the method generally applies to any robot subject to balance constraints (legged or not). The algorithm is presented along with computed examples using both simulated and real humanoid robots.

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Authors and Affiliations

  1. Robotics Institute, Carnegie Mellon University, 5000 Forbes Ave., Pittsburgh, PA, 15213, USA

    James J. Kuffner Jr.

  2. Digital Human Lab., National Institute of Advanced Industrial Science and Technology, 2-41-6, Aomi, Koto-ku, Tokyo, 135-0064, Japan

    Satoshi Kagami

  3. Department of Mechano-Informatics, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo, 113-8656, Japan

    Koichi Nishiwaki, Masayuki Inaba & Hirochika Inoue

Authors
  1. James J. Kuffner Jr.
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  2. Satoshi Kagami
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  3. Koichi Nishiwaki
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  4. Masayuki Inaba
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  5. Hirochika Inoue
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Kuffner, J.J., Kagami, S., Nishiwaki, K. et al. Dynamically-Stable Motion Planning for Humanoid Robots. Autonomous Robots 12, 105–118 (2002). https://doi.org/10.1023/A:1013219111657

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