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Whole-Body Motion Planning

  • Eiichi Yoshida
  • Fumio Kanehiro
  • Jean-Paul Laumond
Reference work entry

Abstract

This chapter addresses whole-body motion planning for humanoid robots. Taking advantage of recent progress of motion planning techniques for many degree of freedom (DOF) systems, early work in humanoid motion planning started with a two-stage approach that utilizes kinematic and geometric motion planning to plan a rough path that is later transformed into a whole-body motion including locomotion with a dynamic biped walking pattern generator. Subsequent progress beyond this functional decomposition is to exploit all the DOFs for the desired task. Whole-body motion planning was then tackled by integrating generalized inverse kinematics that allows achieving the specified tasks by taking into account such constraints as balance, foot positions, or joint limits at the same time. Some applications are presented such as reactive planning in changing cluttered environments, whole-body manipulation of bulky objects, and footstep planning by variable kinematic modeling of footholds. The effectiveness of the proposed methods has been validated through experiments with the human-size humanoid platform HRP-2.

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Copyright information

© Springer Nature B.V. 2019

Authors and Affiliations

  • Eiichi Yoshida
    • 1
  • Fumio Kanehiro
    • 2
  • Jean-Paul Laumond
    • 3
  1. 1.CNRS-AIST JRL (Joint Robotics Laboratory), UMI3218/RLNational Institute of Advanced Industrial Science and Technology (AIST)Tsukuba, IbarakiJapan
  2. 2.Humanoid Research GroupNational Institute of Advanced Industrial Science and Technology (AIST)IbarakiJapan
  3. 3.LAAS-CNRSUniversity of ToulouseToulouseFrance

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