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Introduction: Motion Planning, Optimization, and Biped Gait Generation

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Humanoid Robotics: A Reference

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Abstract

This introduction briefly overviews the common issues we encounter when we want to plan the motion of a humanoid robot to achieve its goal in different situations. Essential techniques to compute humanoid motions are described in this Part, which are mainly motion planning, motion optimization and bipedal gait generation. This Part offers a complete set of state-of-the-art methodologies to tackle a variety of the humanoid motion planning problems.

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Author information

Authors and Affiliations

  1. CNRS-AIST JRL (Joint Robotics Laboratory), UMI3218/RL, National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba, Ibaraki, Japan

    Eiichi Yoshida

  2. Optimization, Robotics and Biomechanics (ORB), Institute of Computer Engineering (ZITI), University of Heidelberg, Heidelberg, Germany

    Katja Mombaur

Authors
  1. Eiichi Yoshida
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  2. Katja Mombaur
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Corresponding author

Correspondence to Eiichi Yoshida .

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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Yoshida, E., Mombaur, K. (2019). Introduction: Motion Planning, Optimization, and Biped Gait Generation. In: Goswami, A., Vadakkepat, P. (eds) Humanoid Robotics: A Reference. Springer, Dordrecht. https://doi.org/10.1007/978-94-007-6046-2_28

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