Smooth Collision Avoidance: Practical Issues in Dynamic Humanoid Motion

— In this paper we address smooth and collision-free whole-body motion planning for humanoid robots. A two-stage iterative planning framework is introduced where geometric motion planner and dynamic pattern generator interacts by exchanging the trajectory, to obtain 3D whole-body dynamic motions simultaneous tasks including locomotion, in complex environments. We propose a practical method for smooth motion reshaping to avoid collisions in generated dynamic motion. Based on motion editing techniques in computer graphics animation, smooth collision-avoiding motion is generated through trajectory deformation. The validity of the proposed reshaping method is verified by computer simulations and experiments using humanoid platform HRP-2.

• Type: Conference
• Year: 2006
• Where: IROS
• Authors: Eiichi Yoshida, Claudia Esteves, Takeshi Sakaguchi, Jean-Paul Laumond, Kazuhito Yokoi
• Keywords: Collision-free Whole-body Motion, Dynamic Motion, Generated Dynamic Motion, IROS 2006, Robotics