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Efficient Planning of Humanoid Motions by Modifying Constraints
http://hdl.handle.net/2237/20761
http://hdl.handle.net/2237/207618f7a38d7-cc3a-4c46-87ef-11272555997f
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
pjbr-2013-0002.pdf (1.3 MB)
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| Item type | 学術雑誌論文 / Journal Article(1) | |||||
|---|---|---|---|---|---|---|
| 公開日 | 2014-11-11 | |||||
| タイトル | ||||||
| タイトル | Efficient Planning of Humanoid Motions by Modifying Constraints | |||||
| 言語 | en | |||||
| 著者 |
Sung, ChangHyun
× Sung, ChangHyun× Kagawa, Takahiro× Uno, Yoji |
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| アクセス権 | ||||||
| アクセス権 | open access | |||||
| アクセス権URI | http://purl.org/coar/access_right/c_abf2 | |||||
| キーワード | ||||||
| 主題Scheme | Other | |||||
| 主題 | humanoid robot | |||||
| キーワード | ||||||
| 主題Scheme | Other | |||||
| 主題 | motion planning | |||||
| キーワード | ||||||
| 主題Scheme | Other | |||||
| 主題 | modifying via-point | |||||
| 抄録 | ||||||
| 内容記述タイプ | Abstract | |||||
| 内容記述 | In this paper, we propose an effective planning method for whole-body motions of humanoid robots under various conditions for achieving the task. In motion planning, various constraints such as range of motion have to be considered. Specifically, it is important to maintain balance in whole-body motion. In order to be useful in an unpredictable environment, rapid planning is an essential problem. In this research, via-point representation is used for assigning sufficient conditions to deal with various constraints in the movement. The position, posture and velocity of the robot are constrained as a state of a via-point. In our algorithm, the feasible motions are planned by modifying via-points. Furthermore, we formulate the motion planning problem as a simple iterative method with a Linear Programming (LP) problem for efficiency of the motion planning. We have applied the method to generate the kicking motion of a HOAP-3 humanoid robot. We confirmed that the robot can successfully score a goal with various courses corresponding to changing conditions of the location of an obstacle. The computation time was less than two seconds. These results indicate that the proposed algorithm can achieve efficient motion planning. | |||||
| 言語 | en | |||||
| 出版者 | ||||||
| 出版者 | Walter de Gruyter | |||||
| 言語 | en | |||||
| 言語 | ||||||
| 言語 | eng | |||||
| 資源タイプ | ||||||
| 資源タイプresource | http://purl.org/coar/resource_type/c_6501 | |||||
| タイプ | journal article | |||||
| 出版タイプ | ||||||
| 出版タイプ | VoR | |||||
| 出版タイプResource | http://purl.org/coar/version/c_970fb48d4fbd8a85 | |||||
| DOI | ||||||
| 関連タイプ | isVersionOf | |||||
| 識別子タイプ | DOI | |||||
| 関連識別子 | https://doi.org/10.2478/pjbr-2013-0002 | |||||
| ISSN | ||||||
| 収録物識別子タイプ | EISSN | |||||
| 収録物識別子 | 2081-4836 | |||||
| 書誌情報 |
en : Paladyn, Journal of Behavioral Robotics 巻 4, 号 1, p. 23-33, 発行日 2013-09 |
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| 著者版フラグ | ||||||
| 値 | publisher | |||||
| URI | ||||||
| 識別子 | http://dx.doi.org/10.2478/pjbr-2013-0002 | |||||
| 識別子タイプ | DOI | |||||
| URI | ||||||
| 識別子 | http://hdl.handle.net/2237/20761 | |||||
| 識別子タイプ | HDL | |||||
