Kinodynamic Gait Planning for Full-Body Humanoid Robots

被引：7

作者：

Harada, Kensuke ^{[1
]}

Morisawa, Mitsuharu ^{[1
]}

Miura, Kanako ^{[1
]}

Nakaoka, Shin-ichiro ^{[1
]}

Fujiwara, Kiyoshi ^{[1
]}

Kaneko, Kenji ^{[1
]}

Kajita, Shuuji ^{[1
]}

机构：

[1] Natl Inst Adv Ind Sci & Technol, Intelligent Syst Res Inst, Tsukuba, Ibaraki 3058568, Japan

来源：

2008 IEEE/RSJ INTERNATIONAL CONFERENCE ON ROBOTS AND INTELLIGENT SYSTEMS, VOLS 1-3, CONFERENCE PROCEEDINGS | 2008年

关键词：

D O I：

10.1109/IROS.2008.4650862

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

This paper proposes the kinodynamic gait planning for humanoid robots where both kinematics and dynamics of the system are considered. We can simultaneously plan both the foot-place and the whole-body motion taking the dynamical balance of the robot into consideration. As a dynamic constraint, we consider the differential equation of the robot's CoG. To solve this constraint, we assume two walking pattern generators; the offline and the online ones. We randomly sample the configuration space to search for the path connecting the start and the goal configurations. When sampling the configuration space, three milestones are sequentially connected to the parent milestone. To show the effectiveness of the proposed methods, we show simulation and experimental results where the humanoid robot HRP-2 walks on several environments.

引用

页码：1544 / 1550

页数：7

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