Cognetti, Marco and Mohammadi, Pouya and Oriolo, Giuseppe (2015) Whole-body motion planning for humanoids based on CoM movement primitives. 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids). pp. 1090-1095.

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Abstract

This work addresses the problem of whole-body motion planning for a humanoid robot that must execute a certain task in an environment containing obstacles. A randomized planner is proposed that builds a solution by concatenating whole-body motions. Each whole-body motion is generated so as to realize a center of mass (CoM) movement selected from a set of primitives and simultaneously accomplish a portion of the task. The CoM primitives are representative of typical humanoid actions such as walking gaits (static and dynamic), and can in principle include more sophisticated movements (e.g., jumping, crouching, etc). Implementation on the NAO humanoid proves that the proposed method generates sensible plans for a variety of composite tasks requiring a combination of navigation and manipulation.

Item Type:	Article
Keywords:	Whole-body; motion; planning; humanoids; CoM; movement; primitives;
Academic Unit:	Faculty of Science and Engineering > Electronic Engineering Faculty of Science and Engineering > Research Institutes > Hamilton Institute
Item ID:	15341
Identification Number:	https://doi.org/10.1109/HUMANOIDS.2015.7363504
Depositing User:	Marco Cognetti
Date Deposited:	25 Jan 2022 15:13
Journal or Publication Title:	2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids)
Publisher:	IEEE
Refereed:	Yes
URI:	Publisher
Use Licence:	This item is available under a Creative Commons Attribution Non Commercial Share Alike Licence (CC BY-NC-SA). Details of this licence are available here

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