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JRM Vol.21 No.3 pp. 311-316
doi: 10.20965/jrm.2009.p0311
(2009)

Paper:

Kinodynamic Planning for Humanoid Robots Walking on Uneven Terrain

Kensuke Harada, Mitsuharu Morisawa, Shin-ichiro Nakaoka, Kenji Kaneko, and Shuuji Kajita

Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology
1-1-1 Umezono, Tsukuba 305-8568, Japan

Received:
October 21, 2008
Accepted:
February 8, 2009
Published:
June 20, 2009
Keywords:
humanoid robot, motion planning, random sampling, biped gait
Abstract

For the purpose of realizing the humanoid robot walking on uneven terrain, this paper proposes the kinodynamic gait planning method where both kinematics and dynamics of the system are considered. We can simultaneously plan both the foot-place and the whole-body motion taking the dynamical balance of the robot into consideration. As a dynamic constraint, we consider the differential equation of the robot’s CoG. To solve this constraint, we use a walking pattern generator. We randomly sample the configuration space to search for the path connecting the start and the goal configurations. To show the effectiveness of the proposed methods, we show simulation and experimental results where the humanoid robot HRP-2 walks on rocky cliff with hands contacting the environment.

Cite this article as:
Kensuke Harada, Mitsuharu Morisawa, Shin-ichiro Nakaoka, Kenji Kaneko, and Shuuji Kajita, “Kinodynamic Planning for Humanoid Robots Walking on Uneven Terrain,” J. Robot. Mechatron., Vol.21, No.3, pp. 311-316, 2009.
Data files:
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