Complex Motion Planning for Humanoid Robot: A Review
نویسندگان
چکیده
منابع مشابه
Robot motion planning for the humanoid robot HOAP-3
In the field of robotics there is a great interest in developing strategies and algorithms to reproduce humanlike behavior. Programming a humanoid robot to walk is a challenging problem. Traditional approaches rely heavily on prior knowledge of the robot’s physical parameters to devise sophisticated control algorithms for generating a stable gait. We present two approaches to solve the motion p...
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This paper presents a motion planner that enables a humanoid robot to push an object on a flat surface. The robot’s motion is divided into distinct walking, reaching, and pushing modes. A discrete change of mode can be achieved with a continuous single-mode motion that satisfies mode-specific constraints (e.g. dynamics, kinematic limits, avoid obstacles). Existing techniques can plan well in si...
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Whole-body coordinated motion of a humanoid robot is known to be a difficult problem for the robotics community. Factors like the dynamic model of the robot, its physical limitations, and its stability throughout the motion must be considered for the results to be implementable on a real robot. Redundancy poses great difficulties as the control of a certain part of the humanoid, if not well pla...
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Humanoid robotics hardware and control techniques have advanced rapidly during the last five years. Presently, several companies are developing commercial prototype full-body humanoid robots. This humanoid technology will contribute to the development of sophisticated prostheses in the medical field, as well as human augmentation systems on the military battlefield. In order to improve the auto...
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The ability of a robot to plan its own motion seems pivotal to its autonomy, and that is why the motion planning has become part and parcel of modern intelligent robotics. In this paper, about 100 research are reviewed and briefly described to identify and classify the amount of the existing work for each motion planning approach. Meanwhile, around 200 research were used to determine the percen...
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ژورنال
عنوان ژورنال: Information Technology Journal
سال: 2010
ISSN: 1812-5638
DOI: 10.3923/itj.2010.1270.1277