2024-03-29T11:17:13Z
https://nagoya.repo.nii.ac.jp/oai
oai:nagoya.repo.nii.ac.jp:00018663
2023-01-16T04:07:20Z
320:321:322
Whole-Body Motion Planning for Humanoid Robots by Specifying Via-Points
Sung, ChangHyun
Kagawa, Takahiro
Uno, Yoji
open access
Decentralized Control
High-Order Neural Networks
Extended Kalman Filter
Backstepping
We design a framework about the planning of whole body motion for humanoid robots. Motion planning with various constraints is essential to success the task. In this research, we propose a motion planning method corresponding to various conditions for achieving the task. We specify some via-points to deal with the conditions for target achievement depending on various constraints. Together with certain constraints including task accomplishment, the via-point representation plays a crucial role in the optimization process of our method. Furthermore, the via-points as the optimization parameters are related to some physical conditions. We applied this method to generate the kicking motion of a humanoid robot HOAP-3. We have confirmed that the robot was able to complete the task of kicking a ball over an obstacle into a goal in addition to changing conditions of the location of a ball. These results show that the proposed motion planning method using via-point representation can increase articulation of the motion.
INTECH
2013-07
eng
journal article
VoR
http://hdl.handle.net/2237/20760
https://nagoya.repo.nii.ac.jp/records/18663
https://doi.org/10.5772/56747
1729-8806
International Journal of Advanced Robotic Systems
10
300
300
https://nagoya.repo.nii.ac.jp/record/18663/files/45522.pdf
application/pdf
1.5 MB
2018-02-21