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IROS
2008
IEEE

Adaptive motion planning for humanoid robots

10 years 4 months ago
Adaptive motion planning for humanoid robots
— Motion planning for robots with many degrees of freedom (DoF) is a generally unsolved problem in the robotics context. In this work an approach for trajectory planning is presented, which takes account of the different kinematic parts of a humanoid robot. Since not all joints of the robot are important for different planning phases, the RRT-based planner is able to adapt the number of DoF on the fly to improve the performance and the quality of the results. The runtime of the approach is evaluated in comparison to a standard RRT planner. Futhermore several extensions to the algorithm are investigated.
Niko Vahrenkamp, Christian Scheurer, Tamim Asfour,
Added 31 May 2010
Updated 31 May 2010
Type Conference
Year 2008
Where IROS
Authors Niko Vahrenkamp, Christian Scheurer, Tamim Asfour, James J. Kuffner, Rüdiger Dillmann
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