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Authors: Antonio El Khoury ; Michel Taïx and Florent Lamiraux

Affiliation: CNRS, LAAS, Université de Toulouse, UPS, INSA, INP, ISAE, UT1, UTM and LAAS, France

ISBN: 978-989-8425-75-1

Keyword(s): Humanoid robot, Motion planning, Walk planning, Holonomic constraints, Optimization, A*, HRP-2.

Related Ontology Subjects/Areas/Topics: Artificial Intelligence ; Autonomous Agents ; Formal Methods ; Informatics in Control, Automation and Robotics ; Intelligent Control Systems and Optimization ; Mobile Robots and Autonomous Systems ; Optimization Algorithms ; Planning and Scheduling ; Robotics and Automation ; Simulation and Modeling ; Symbolic Systems

Abstract: This paper deals with humanoid walk planning in cluttered environments. It presents a heuristic and efficient optimization method that takes as input a path computed for the robot bounding box, and produces a path where a discrete set of configurations is reoriented using an A* search algorithm. The resulting trajectory is realistic and time-optimal. This method is validated in various scenarios on the humanoid robot HRP-2.

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Paper citation in several formats:
El Khoury, A.; Taïx, M. and Lamiraux, F. (2011). PATH OPTIMIZATION FOR HUMANOID WALK PLANNING - An Efficient Approach.In Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8425-75-1, pages 179-184. DOI: 10.5220/0003530001790184

@conference{icinco11,
author={Antonio El Khoury. and Michel Taïx. and Florent Lamiraux.},
title={PATH OPTIMIZATION FOR HUMANOID WALK PLANNING - An Efficient Approach},
booktitle={Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2011},
pages={179-184},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0003530001790184},
isbn={978-989-8425-75-1},
}

TY - CONF

JO - Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - PATH OPTIMIZATION FOR HUMANOID WALK PLANNING - An Efficient Approach
SN - 978-989-8425-75-1
AU - El Khoury, A.
AU - Taïx, M.
AU - Lamiraux, F.
PY - 2011
SP - 179
EP - 184
DO - 10.5220/0003530001790184

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