Whole-body motion planning for humanoids based on CoM movement primitives

TitleWhole-body motion planning for humanoids based on CoM movement primitives
Publication TypeConference Paper
Year of Publication2015
AuthorsCognetti M., Mohammadi P., Oriolo G.
Conference Name2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids)
Date PublishedNov
Keywordscenter of mass movement, Collision avoidance, CoM movement, CoM movement primitives, crouching, Dynamics, humanoid actions, humanoid robot, humanoid robots, jumping, Legged locomotion, mobile robots, NAO humanoid, obstacle containing environment, Planning, randomized planner, Trajectory, walking gaits, whole-body motion planning

This work addresses the problem of whole-body motion planning for a humanoid robot that must execute a certain task in an environment containing obstacles. A randomized planner is proposed that builds a solution by concatenating whole-body motions. Each whole-body motion is generated so as to realize a center of mass (CoM) movement selected from a set of primitives and simultaneously accomplish a portion of the task. The CoM primitives are representative of typical humanoid actions such as walking gaits (static and dynamic), and can in principle include more sophisticated movements (e.g., jumping, crouching, etc). Implementation on the NAO humanoid proves that the proposed method generates sensible plans for a variety of composite tasks requiring a combination of navigation and manipulation.