Authors:
Antonio El Khoury
;
Michel Taïx
and
Florent Lamiraux
Affiliation:
CNRS, LAAS, Université de Toulouse, UPS, INSA, INP, ISAE, UT1, UTM and LAAS, France
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.