Path Planning for a Humanoid Robot Using NURBS Curves
نویسنده
چکیده
In this paper we present an algorithm for planning the path of a 3 DOF mobile platform for a humanoid robot. It is simple enough to be executed online and yet powerful enough to generate a smooth path from starting point and orientation to a destination point with a different orientation. Thus we strive to achieve a human-like appearance of our robot that encourages the humans in vicinity to interact with our humanoid robot and enhances the possibilities of human-robot collaboration. We opted to use NURBS curves as the basis for our path planning algorithm. Index Terms – Humanoid robot, human-robot collaboration, NURBS, path planning.
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