Task-oriented whole-body planning for humanoids based on hybrid motion generation

TitleTask-oriented whole-body planning for humanoids based on hybrid motion generation
Publication TypeConference Paper
Year of Publication2014
AuthorsCognetti M., Mohammadi P., Oriolo G., Vendittelli M.
Conference Name2014 IEEE/RSJ International Conference on Intelligent Robots and Systems
Date PublishedSept
KeywordsCollision avoidance, dynamic playback, Dynamics, exploration tree, Foot, humanoid equilibrium, humanoid robot, humanoid robots, hybrid motion generation, Joints, manipulation task, mobile robots, NAO, path planning, Planning, Robots, task-oriented whole-body motion planning, Trajectory, trees (mathematics), V-REP

This paper considers the problem of planning the motion of a humanoid robot that must execute a manipulation task, possibly requiring stepping, in environments cluttered by obstacles. The proposed method explores the submanifold of the configuration space that is admissible with respect to the assigned task and at the same time satisfies other constraints, including humanoid equilibrium. The exploration tree is expanded using a hybrid scheme that simultaneously generates footsteps and whole-body motions. The algorithm has been implemented for the humanoid robot NAO and validated through planning experiments and dynamic playback in V-REP.