Dynamic Walking and Whole-Body Motion Planning for Humanoid Robots: an Integrated Approach

Sébastien Dalibard (1) , Antonio El Khoury (1) , Florent Lamiraux (1) , Alireza Nakhaei (1) , Michel Taïx (1) , Jean-Paul Laumond (1)

1 LAAS-GEPETTO - Équipe Mouvement des Systèmes Anthropomorphes

This paper presents a general method for planning collision-free whole-body walking motions for humanoid robots. First, we present a randomized algorithm for constrained motion planning, that is used to generate collision-free statically balanced paths solving manipulation tasks. Then, we show that dynamic walking makes humanoid robots small-space controllable. Such a property allows to easily transform collision-free statically balanced paths into collision-free dynamically balanced trajectories. It leads to a sound algorithm which has been applied and evaluated on several problems where whole-body planning and walk are needed, and the results have been validated on a real HRP-2 robot.

Domaines: Robotique [cs.RO]

Sébastien Dalibard, Antonio El Khoury, Florent Lamiraux, Alireza Nakhaei, Michel Taïx, et al.. Dynamic Walking and Whole-Body Motion Planning for Humanoid Robots: an Integrated Approach. The International Journal of Robotics Research, 2013, 32 (9-10), pp.1089-1103. ⟨hal-00654175v2⟩