Dynamically-stable motion planning for humanoid robots

DOI10.1023/A:1013219111657MaRDI QIDQ4794537zbMATH OpenOpenAlexFDO

Authors James J. Kuffner, Satoshi Kagami, Koichi Nishiwaki, Masayuki Inaba, Hirochika Inoue

Publication date 19 February 2003

Published in Autonomous Robots (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1023/a:1013219111657

zbMATH Keywords

dynamicshumanoid robotsmotion planningobstacle avoidance

Mathematics Subject Classification ID

Artificial intelligence for robotics (68T40) Computing methodologies and applications (68U99)

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Cited in

(17)

• Dynamic balance preservation and prevention of sliding for humanoid robots in the presence of multiple spatial contacts
• Effective footstep planning using homotopy-class guidance
• Numerical estimation of balanced and falling states for constrained legged systems
• Omni-directional bipedal walking path planning
• Humanoid robot motion planning -- a multiple constraints approach
• A convex optimization algorithm for stabilizing whole-body motions of humanoid robots
• The state-transition recognition for humanoid robot
• Using motion primitives in probabilistic sample-based planning for humanoid robots
• Rapidly-exploring Sorted Random Tree: A Self Adaptive Random Motion Planning Algorithm
• Reference trajectory generation for 3-Dimensional walking of a humanoid robot
• A fast dynamically equilibrated walking trajectory generation method of humanoid robot
• Modification of gesture-determined-dynamic function with consideration of margins for motion planning of humanoid robots
• A momentum control for stable whole-body motion of humanoid robots
• A whole-body motion planner for humanoid robots using EZMP preview control and resolved momentum control
• Optimization of throwing motion planning for whole-body humanoid mechanism: sidearm and maximum distance
• Dynamic motion planning of overarm throw for a biped human multibody system
• Controlling the posture of a humanoid robot

Describes a project that uses

Uses Software

• AutoBalancer

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