Coarse-to-fine Humanoid Motion Planning Using COM Feasible Region and Achievement of Humanoids Ladder Climbing and Transition

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  • 重心の実行可能領域を利用した粗密段階計算に基づく軌道計画法によるヒューマノイドロボットのはしご昇降と乗り移り動作の実現
  • ジュウシン ノ ジッコウ カノウ リョウイキ オ リヨウ シタ ソミツ ダンカイ ケイサン ニ モトズク キドウ ケイカクホウ ニ ヨル ヒューマノイドロボット ノ ハシゴショウコウ ト ノリウツリ ドウサ ノ ジツゲン

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Abstract

Trajectory planning for humanoid robots requires satisfying various constraints such as balance, contact, joint limitation, kinematics, and collision. To obtain trajectory efficiently, related research has integrated coarse motion planning to fine full-body trajectory generation. In this paper, we propose a humanoid motion planner satisfying various constraints based on key pose generation by exploiting center-of-mass (COM) feasible region (CFR): (a) We show a method to project approximately balance constraints of statics and dynamics into CFR. (b) We propose a key pose generation capable of considering swing and support phase to satisfy asymptotically CFR constraint while satisfying kinematics constraints. (c) We show a method to obtain full-body trajectory by interpolating obtained key pose. We validate our proposed method through evaluations, in which the robot performs locomotion tasks related to ladder climbing under the stringent constraints, and experiments, in which the real robot achieves ladder motion.

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