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ICRA
2010
IEEE

A skill-based motion planning framework for humanoids

10 years 10 months ago
A skill-based motion planning framework for humanoids
— This paper presents a multi-skill motion planner which is able to sequentially synchronize parameterized motion skills in order to achieve humanoid motions exhibiting complex whole-body coordination. The proposed approach integrates sampling-based motion planning in continuous parametric spaces with discrete search over skill choices, selecting the search strategy according to the functional type of each skill being coordinated. As a result, the planner is able to sequence arbitrary motion skills (such as reaching, balance adjustment, stepping, etc) in order to achieve complex motions needed for solving humanoid reaching tasks in realistic environments. The proposed framework is applied to the HOAP-3 humanoid robot and several results are presented.
Marcelo Kallmann, Yazhou Huang, Robert Backman
Added 26 Jan 2011
Updated 26 Jan 2011
Type Journal
Year 2010
Where ICRA
Authors Marcelo Kallmann, Yazhou Huang, Robert Backman
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