Path Optimization for Humanoid Walk Planning: an Efficient Approach
Résumé
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.
Domaines
Robotique [cs.RO]Origine | Fichiers produits par l'(les) auteur(s) |
---|