hal-00486997, version 1
Collision-free walk planning for humanoid robots using numerical optimization
Thomas Moulard
1Florent Lamiraux 1Pierre-Brice Wieber 2, 3
(15/02/2010)
Résumé : This paper addresses the problem of walk planning for a humanoid robot on a flat ground cluttered by obstacles. The algorithm we propose works in two steps. In a first step, a collision-free path for the bounding box of the robot moving in the horizontal plane is planned using classical path planning methods. In a second step, a spline is fit on the path and optimized using numerical optimization tools. The optimization criterion is time, constraints are defined by positive distance to obstacles and bounded velocities of the feet. The method has been tested on a real humanoid robot HRP-2.
- 1 : Laboratoire d'analyse et d'architecture des systèmes (LAAS)
- CNRS : UPR8001 – Université Paul Sabatier - Toulouse III – Institut National Polytechnique de Toulouse - INPT – Institut National des Sciences Appliquées de Toulouse
- 2 : Joint Robotics Laboratory AIST & CNRS (JRL)
- AIST – CNRS : UMI3218
- 3 : BIPOP (INRIA Grenoble Rhône-Alpes / LJK Laboratoire Jean Kuntzmann)
- INRIA – Laboratoire Jean Kuntzmann
- Domaine : Informatique/Robotique
- Mots-clés : humanoid robot – motion planning – walk
- Référence interne : Rapport LAAS n° 10317
- hal-00486997, version 1
- http://hal.archives-ouvertes.fr/hal-00486997
- oai:hal.archives-ouvertes.fr:hal-00486997
- Contributeur : Florent Lamiraux
- Soumis le : Mardi 7 Septembre 2010, 11:46:24
- Dernière modification le : Jeudi 1 Septembre 2011, 10:52:18
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