A Workspace Decomposition for Hierarchical Motion Planning with Humanoid Robots
نویسندگان
چکیده
This paper presents a hierarchical motion planner for humanoid robots navigating complex environments. We use a workspace decomposition that allows our planning algorithm to be separated into high-level, subgoal, and local algorithms. The workspace decomposition consists of a passage map, obstacle map, gradient map, and local map. We verify our approach using a virtual humanoid robot in a simulated environment.
منابع مشابه
A Low Friction Demanding Approach in Gait Planning for Humanoid Robots During 3D Manoeuvres
This paper proposes a gait planning approach to reduce the required friction for a biped robot walking on various surfaces. To this end, a humanoid robot with 18 DOF is considered to develop a dynamics model for studying various 3D manoeuvres. Then, feasible trajectories are developed to alleviate the fluctuations on the upper body to resemble human-like walking. In order to generate feasible w...
متن کاملDirect Optimal Motion Planning for Omni-directional Mobile Robots under Limitation on Velocity and Acceleration
This paper describes a low computational direct approach for optimal motion planning and obstacle avoidance of Omni-directional mobile robots within velocity and acceleration constraints on the robot motion. The main purpose of this problem is the minimization of a quadratic cost function while limitation on velocity and acceleration of robot is considered and collision with any obstacle in the...
متن کاملMotion planning and bimanual coordination in humanoid robots
Humanoid robots have a large number of “extra” joints, organized in a humanlike fashion with several kinematic chains. In this chapter we describe a method of motion planning that is based on an artificial potential field approach (Passive Motion Paradigm) combined with terminal-attractor dynamics. No matrix inversion is necessary and the computational mechanism does not crash near kinematic si...
متن کاملHumanoid Navigation Strategy Using Fuzzy Motion Planner in a Uneven Smart Home Environment
This paper presents a fuzzy motion planner for humanoid robots in complex uneven environments. First, we define locomotion primitives for humanoid robots. A high-level planner finds a global path from a global navigation map that is generated based on a combination of 2.5 dimensional maps of the 3D workspace. A mid-level planner creates waypoints that help the robot efficiently cope with variou...
متن کاملMotion Planning for a Humanoid Walking in a 3D Space
Most motion planners solve problems defined in a 2D workspace for mobile robots or in a 3D workspace for fixed-based manipulators or free-flying objects. Human beings move on a smooth or stair-like 2D surface of a 3D workspace. Such a motion-planning problem differ from the general piano mover’s problem on that the definition of obstacle region not only depends on the local relative height but ...
متن کامل