MURAL - Maynooth University Research Archive Library



    Whole-body motion planning for humanoids based on CoM movement primitives


    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.

    [img]
    Preview
    Download (804kB) | Preview


    Share your research

    Twitter Facebook LinkedIn GooglePlus Email more...



    Add this article to your Mendeley library


    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:

    Repository Staff Only(login required)

    View Item Item control page

    Downloads

    Downloads per month over past year