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Obeying Constraints During Motion Planning

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Humanoid Robotics: A Reference

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Abstract

Every practical motion planning problem in robotics involves constraints. Whether the robot must avoid collision or joint limits, there are always states that are not permissible. Some constraints are straightforward to satisfy, while others can be so stringent that feasible states are very difficult to find. What makes planning with constraints challenging is that, for many constraints, it is impossible or impractical to provide the planning algorithm with the allowed states explicitly; it must discover these states as it plans. This chapter focuses on constraints relevant to motion planning for humanoids.

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Author information

Authors and Affiliations

  1. Department of Electrical Engineering and Computer Science, University of Michigan, Ann Arbor, MI, USA

    Dmitry Berenson

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  1. Dmitry Berenson
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Correspondence to Dmitry Berenson .

Editor information

Editors and Affiliations

  1. Intuitive Surgical, Sunnyvale, CA, USA

    Ambarish Goswami

  2. Department of Electrical and Computer Engineering, National University of Singapore, Singapore, Singapore

    Prahlad Vadakkepat

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Berenson, D. (2019). Obeying Constraints During Motion Planning. In: Goswami, A., Vadakkepat, P. (eds) Humanoid Robotics: A Reference. Springer, Dordrecht. https://doi.org/10.1007/978-94-007-6046-2_58

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