Path Optimization for Humanoid Walk Planning: an Efficient Approach

Antonio El Khoury (1) , Michel Taïx (1) , Florent Lamiraux (1)

1 LAAS - Laboratoire d'analyse et d'architecture des systèmes

The paper deals with walk planning for humanoid robots in a cluttered environment. It presents a heuristic and efficient optimization method that takes as input a path computed for the robot bounding box by a random diffusion algorithm, and produces a path where a discrete set of configurations has been reoriented using an A* search algorithm. The resulting whole-body trajectory is a realistic and time-optimal one. We validate our method in various virtual scenarios and on the real humanoid robot HRP-2.

Mots clés: humanoid robot; motion planning; walk planning; nonholonomic; holonomic; optimization; A; HRP-2; sampling

Domaines: Robotique [cs.RO]

Antonio El Khoury, Michel Taïx, Florent Lamiraux. Path Optimization for Humanoid Walk Planning: an Efficient Approach. 2011, pp.icinco.org. ⟨hal-00572375v1⟩