Path Optimization for Humanoid Walk Planning: an Efficient Approach
Résumé
The paper deals with walk planning for humanoid robots in a cluttered environment. It presents a heuristic and efficient optimization method that takes as input a path computed for the robot bounding box by a random diffusion algorithm, and produces a path where a discrete set of configurations has been reoriented using an A* search algorithm. The resulting whole-body trajectory is a realistic and time-optimal one. We validate our method in various virtual scenarios and on the real humanoid robot HRP-2.
Domaines
Robotique [cs.RO]Origine | Fichiers produits par l'(les) auteur(s) |
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