Motion Planning for a Humanoid Robot with Task Dependent Constraints

  • Teresa ZielinskaEmail author
  • Luo Zimin
  • Maksymilan Szumowski
  • Weimin Ge
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 73)


The main objective of this work is to deliver a suitable motion generation algorithm for pick and place task considering an existing humanoid robot. A planar robot with only the motion in sagittal plane was of our interest. We assumed that the feet are fixed to the ground and the robot is seen as an open chain structure. First the considered robot is introduced. Next the methods for managing the Jacobian singularity are summarized. The testing examples are presented next. The overall motion strategy is finally described together with experiments. The paper is ending with conclusions.


Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.


  1. 1.
    Arisumi H., and Chardonnet J.R., Kheddar A.Yokoi K.: Dynamic Lifting Motion of Humanoid Rbots. IEEE Int. Conf. on Robotics and Automation, pp. 2661–2667, 2007Google Scholar
  2. 2.
    Arisumi H., Miossec S., Chardonnet J.R., Yokoi K.: Dynamic Lifting by Whole Body Motion of Humanoid Robots. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems. pp. 668-675, 2008.Google Scholar
  3. 3.
    Berenson D., Srinivasa S., Kuffner J.: Task Space Regions: A framework for Pose-constrained Manipulation Planning. Int. J. of Robotics Research. no.12,vol.30. pp.1435-1460. 2011.Google Scholar
  4. 4.
    Fatimi F.: Redundant manipulators. In: Autonomous Robotos. Springer 2009.Google Scholar
  5. 5.
    Grey M., Joo S., Zucker M.: Planning Heavy Lifts for Humanoid Robots. IEEE RAS Int. Conf. on Humanoid Robot. pp.640-645, 2015.Google Scholar
  6. 6.
    Harada K., Kajita S., Saito H., Morisawa M., Kanehiro F., Fujiwara K., Kaneko K.: A Humanoid Robot Carrying a Heavy Object. IEEE Int. Conf. on Robotics and Automation. pp.1712-1717, 2005.Google Scholar
  7. 7.
    Nakamura Y., Hanafusa H. Inverse Kinematic Solutions with Singularity Robustness for Robot Manipulator Control, J. of Dynamic Systems, Measurement, and Control no.3, vol.108, pp.163-171, 1986Google Scholar
  8. 8.
    Sciavicco L., Siciliano B.: Modelling and Control of Robot Manipulators. 2nd edition, Springer London, 2000.Google Scholar
  9. 9.
    Sciavicco L., Siciliano B.: A Solution Algorithm to the Inverse Kinematic Problem for Redundant Manipulators. IEEE J. on Robotics and Automation, vol.4, no.4, pp.403-410, 1988.Google Scholar
  10. 10.
    Siciliano B., Slotine J.J.E.: A general Framework for Managing Multiple Tasks in Highly Redundant Robotic Systems. 5-th Int. Conf. on Advanced Robotics, pp.1211-1216, 1991.Google Scholar
  11. 11.
    Wampler Ch.W.: Manipulator Inverse Kinematic Solutions Based on Vector Formulations and Damped Least-Squares Methods, IEEE Transactions on Systems,Man, and Cybernetics, vol.16, pp.93-101, 1986.Google Scholar

Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Teresa Zielinska
    • 1
    Email author
  • Luo Zimin
    • 2
  • Maksymilan Szumowski
    • 1
  • Weimin Ge
    • 3
  1. 1.Faculty of Power and Aerospace EngineeringWarsaw University of TechnologyWarsawPoland
  2. 2.SingaporeSingapore
  3. 3.Tianjin University of TechnologyTianjinChina

Personalised recommendations