Motion Planning of Humanoid Robots
نویسندگان
چکیده
منابع مشابه
Motion Planning for Humanoid Robots
Humanoid robotics hardware and control techniques have advanced rapidly during the last five years. Presently, several companies are developing commercial prototype full-body humanoid robots. This humanoid technology will contribute to the development of sophisticated prostheses in the medical field, as well as human augmentation systems on the military battlefield. In order to improve the auto...
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We present an algorithm for computing stable collision-free motions for humanoid robots given fullbody posture goals. The motion planner is part of a simulation environment under development for providing high-level software control for humanoid robots. Given a robot’s internal model of the environment and a statically-stable desired posture, we use a randomized path planner to search the confi...
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Motion planning for humanoids faces several challenging issues: high dimensionality of the configuration space, necessity to address balance constraints in single and double support mode, higher levels of planning for coordination of different skills, etc. While the above challenges hold for any humanoid robot, the soccer scenario adds difficulties rarely addressed in humanoid motion planning r...
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Motion planning for humanoids suffers from the high dimensionality of the configuration space. Moreover, the need to satisfy dynamic and static constraints increases the overall difficulty. While the above challenges hold for any humanoid robot, the soccer scenario adds difficulties narrowly addressed in humanoids motion planning research. Dynamic environments with active opponents, the require...
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In this paper we introduce an improvement in the path planning algorithm for the humanoid soccer playing robot which uses Ferguson splines and PSO (Particle Swarm Optimization). The objective of the algorithm is to find a path through other playing robots to the ball, which should be as short as possible and also safe enough. Ferguson splines create preliminary paths using random generated para...
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ژورنال
عنوان ژورنال: Journal of the Robotics Society of Japan
سال: 2018
ISSN: 0289-1824,1884-7145
DOI: 10.7210/jrsj.36.122