Motion Planning for Humanoid Robots

✍ Scribed by Joel Chestnutt (auth.), Kensuke Harada, Eiichi Yoshida, Kazuhito Yokoi (eds.)

• Publisher: Springer-Verlag London
• Year: 2010
• Tongue: English
• Leaves: 322
• Edition: 1
• Category: Library

✦ Synopsis

Research on humanoid robots has been mostly with the aim of developing robots that can replace humans in the performance of certain tasks. Motion planning for these robots can be quite difficult, due to their complex kinematics, dynamics and environment. It is consequently one of the key research topics in humanoid robotics research and the last few years have witnessed considerable progress in the field. Motion Planning for Humanoid Robots surveys the remarkable recent advancement in both the theoretical and the practical aspects of humanoid motion planning. Various motion planning frameworks are presented in Motion Planning for Humanoid Robots, including one for skill coordination and learning, and one for manipulating and grasping tasks. The problem of planning sequences of contacts that support acyclic motion in a highly constrained environment is addressed and a motion planner that enables a humanoid robot to push an object to a desired location on a cluttered table is described. The main areas of interest include: • whole body motion planning, • task planning, • biped gait planning, and • sensor feedback for motion planning. Torque-level control of multi-contact behavior, autonomous manipulation of moving obstacles, and movement control and planning architecture are also covered. Motion Planning for Humanoid Robots will help readers to understand the current research on humanoid motion planning. It is written for industrial engineers, advanced undergraduate and postgraduate students.

✦ Table of Contents

Front Matter....Pages i-xv
Navigation and Gait Planning....Pages 1-28
Compliant Control of Whole-body Multi-contact Behaviors in Humanoid Robots....Pages 29-66
Whole-body Motion Planning – Building Blocks for Intelligent Systems....Pages 67-98
Planning Whole-body Humanoid Locomotion, Reaching, and Manipulation....Pages 99-128
Efficient Motion and Grasp Planning for Humanoid Robots....Pages 129-160
Multi-contact Acyclic Motion Planning and Experiments on HRP-2 Humanoid....Pages 161-179
Motion Planning for a Humanoid Robot Based on a Biped Walking Pattern Generator....Pages 181-204
Autonomous Manipulation of Movable Obstacles....Pages 205-250
Multi-modal Motion Planning for Precision Pushing on a Humanoid Robot....Pages 251-276
A Motion Planning Framework for Skill Coordination and Learning....Pages 277-306

✦ Subjects

Control, Robotics, Mechatronics