Whole-Body Motion Planning for Humanoid Robots by Specifying Via-Points

Whole-Body Motion Planning for Humanoid Robots by Specifying Via-Points

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We design a weboost coax cable framework about the planning of whole body motion for humanoid robots.Motion planning with various constraints is essential to success the task.In this research, we propose a motion planning method corresponding to various conditions for achieving the task.

We specify some via-points to deal with the conditions for target achievement depending on various constraints.Together with certain constraints including task accomplishment, the via-point representation plays a crucial role in the optimization process of our method.Furthermore, the via-points as the optimization parameters are related to some physical conditions.

We applied this method to generate the kicking motion of a humanoid robot HOAP-3.We have confirmed that the robot was able to complete the task of kicking a ball over an obstacle into a goal in addition to changing conditions of the location of a ball.These results show that the proposed motion planning method using via-point representation can increase articulation of carin shard d2 the motion.