Humanoid motion planning for dynamic tasks

Proceedings of 2005 5th IEEE-RAS International Conference on Humanoid Robots

Volumn 2005, Issue , 2005, Pages 1-6

  Yoshida, Eiichi ^a   Belousov, Igor ^b   Esteves, Claudia ^b   Laumond, Jean Paul ^b  

^a NATIONAL INSTITUTE OF ADVANCED INDUSTRIAL SCIENCE AND TECHNOLOGY AIST   (Japan)

^b LAAS CNRS   (France)

Author keywords

Dynamics; Humanoid; Mobile manipulation; Motion planning

Indexed keywords

ALGORITHMS; COMPUTATIONAL GEOMETRY; COMPUTER SIMULATION; ITERATIVE METHODS; KINEMATICS; MOTION PLANNING;

DYNAMIC PATTERN GENERATOR; HUMANOID; MOBILE MANIPULATION;

MOBILE ROBOTS;

EID: 33846590520     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICHR.2005.1573536     Document Type: Conference Paper

References (22)

1. D. Hsu, J.C. Latombe and R. Motwani Path Planning in Expansive Configuration Spaces Int. J. Computational Geometry and Applications, 4, 495-512, 1999.
2. S. LaValle and J. Kuffner: "Rapidly-Exploring Random Trees: Progress and Prospects," In Algorithmic and Computational Robotics: New Directions, 293-308, A K Peters, 2001.
3. L. Kavraki, et al. Probabilistic Roadmaps for Path Planning in High-Dimensional Configuration Spaces IEEE Trans. on Robotics and Automation, 12-4, 566-580, 1996.
4. J. Kuffner, et al. "Dynamically-stable motion planning for humanoid robots," Autonomous Robots, 1-12, 105-118, 2002.
5. J. Kuffner et al. "Motion planning for humanoid robots." Proc. 20th Int'l Symp. Robotics Research (ISRR'03), 2003.
6. J. Chestnutt and J. Kuffner. "A Tiered Planning Strategy for Biped Navigation," Proc. IEEE Int. Conf., on Humanoid Robotics (Humanoids'04), 2004.
7. M. Stilman and J. Kuffner. "Navigation among movable obstacles: Real-time reasoning in complex environments," Proc. IEEE Int. Conf., on Humanoid Robotics (Humanoids'04), 2004.
8. Z. Shiller, K. Yamane, and Y. Nakamura. "Planning Motion Patterns of Human Figures Using a Multi-layered Grid and the Dynamics Filter," Proc. of 2001 IEEE International Conference on Robotics and Automation (ICRA'01) pp. 1-8, 2001.
9. F. Kanehiro, et al. "Locomotion Planning of Humanoid Robots to Pass through Narrow Spaces," Proc. 2004 IEEE Int. Conf., on Robotics and Automation (ICRA'04), 2004
10. K. Nagasaka et al. "Integrated Motion Control for Walking, Jumping and Running on a Small Bipedal Entertainment Robot," Proc. 2004 IEEE Int. Conf., on Robotics and Automation (ICRA'04), 3189-3194, 2004.
11. K. Okada, et al. "Integrated System Software for HRP Humanoid," Proc. 2004 IEEE Int. Conf. on Robotics and Automation (ICRA'04), 3207-3212, 2004.
12. K. Okada, et al. "Environment Manipulation Planner for Humanoid Robots Using Task Graph That Generates Action Sequence," Proc. 2004 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS'04), 1174-1179, 2004.
13. E. Yoshida. "Humanoid Motion Planning using Multi-Level DOF Exploitation based on Randomized Method," Proc. 2005 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS'05), 25-30, 2005.
14. G. Arechavaleta, et al. "Planning Fine Motions for a Digital Factotum," Proc. 2004 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS'04), 822-827, 2004.
15. L. E. Dubins. "On curves of minimal length with a constraint on average curvature and prescribed initial and terminal positions and tangents," American Journal of Mathematics, 79, pp 497-516, 1957.
16. I. Belousov. et al. "Motion planning for the large space manipulators with complicated dynamics," Proc. 2005 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS'05), 3713-3719, 2005.
17. E. Ferre and J.-P. Laumond. "An iterative diffusion algorithm for part disassembly," Proc. International Conference on Robotics and Automation (ICRA'04), 2004.
18. J. Barraquand and J.-C. Latombe. "A penalty function method for constrained motion planning," Proc. IEEE International Conference on Robotics and Automation (ICRA 94), 1994.
19. S. Kajita et al. "Biped Walking Pattern Generation by using Preview Control of Zero-Moment Point," Proc. 2003 IEEE International Conference on Robotics and Automation (ICRA'03), 1620-1626, 2003.
20. K. Kaneko, et al. 'The Humanoid Robot HRP-2", Proc. of 2004 IEEE Int. Conf. on Robotics and Automation (ICRA'04), 1083-1090, 2004.
21. F. Kanehiro, H. Hirukawa and S.Kajita: "OpenHRP: Open Architecture Humanoid Robotics Platform," Int. Journal of Robotics Research, 23-2, 155-166, 2004.
22. T. Simeon, J-P. Laumond, and F. Lamiraux. "Move3D: a generic platform for path planning," IEEE International Symposium on Assembly and Task Planning (ISATP'2001), Fukuoka (Japan), 2001.