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Motion Planning of Half-Humanoid in the Presence of Obstacle

Published: 28 December 2021 Publication History

Abstract

In this work, path planning and dynamic analysis of half humanoid is presented for object manipulation in approach and post grasping phases. First, the kinematic and dynamic modelling of the half humanoid is presented. Next, Rapidly Exploring Random Tree Star (RRT*) is used to find a collision-free path in approach phase, and path smoothing is done by reducing the redundant points in the generated path. Continuous motion planning is achieved by interpolating each path segment, generated using RRT*, with a cubic polynomial trajectory. Finally, numerical studies are presented for 12-DoF Half Humanoid manipulating an object.

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cover image ACM Other conferences
AIR '21: Proceedings of the 2021 5th International Conference on Advances in Robotics
June 2021
348 pages
ISBN:9781450389716
DOI:10.1145/3478586
Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

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Association for Computing Machinery

New York, NY, United States

Publication History

Published: 28 December 2021

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Author Tags

  1. Closed-loop Motion
  2. Continuous path planning
  3. Half-humanoid
  4. Obstacle Avoidance
  5. RRT*

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AIR2021

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Overall Acceptance Rate 69 of 140 submissions, 49%

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