Smooth Collision Avoidance: Practical Issues in Dynamic Humanoid Motion
- 1 October 2006
- conference paper
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- No. 21530858,p. 827-832
- https://doi.org/10.1109/iros.2006.281732
Abstract
In this paper we address smooth and collision-free whole-body motion planning for humanoid robots. A two-stage iterative planning framework is introduced where geometric motion planner and dynamic pattern generator interacts by exchanging the trajectory, to obtain 3D whole-body dynamic motions simultaneous tasks including locomotion, in complex environments. We propose a practical method for smooth motion reshaping to avoid collisions in generated dynamic motion. Based on motion editing techniques in computer graphics animation, smooth collision-avoiding motion is generated through trajectory deformation. The validity of the proposed reshaping method is verified by computer simulations and experiments using humanoid platform HRP-2Keywords
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