Motion Planning for Humanoid Robots

James Kuffner, Koichi Nishiwaki, Satoshi Kagami, Masayuki Inaba, and Hirochika Inoue
Proc. 11th Int? Symp. of Robotics Research (ISRR 2003), December, 2003.


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Abstract
Humanoid robotics hardware and control techniques have advanced rapidly during the last five years. Presently, several companies have announced the commercial availability of various humanoid robot prototypes. In order to improve the autonomy and overall functionality of these robots, reliable sensors, safety mechanisms, and general integrated software tools and techniques are needed. We believe that the development of practical motion planning algorithms and obstacle avoidance software for humanoid robots represents an important enabling technology. This paper gives an overview of some of our recent efforts to develop motion planning methods for humanoid robots for application tasks involving navigation, object grasping and manipulation, footstep placement, and dynamically-stable full-body motions. We show experimental results obtained by implementations running within a simulation environment as well as on actual humanoid robot hardware.

Keywords
humanoid robots, motion planning, graphical simulation

Notes
Associated Center(s) / Consortia: Center for the Foundations of Robotics
Number of pages: 10

Text Reference
James Kuffner, Koichi Nishiwaki, Satoshi Kagami, Masayuki Inaba, and Hirochika Inoue, "Motion Planning for Humanoid Robots," Proc. 11th Int? Symp. of Robotics Research (ISRR 2003), December, 2003.

BibTeX Reference
@inproceedings{Kuffner_2003_4747,
   author = "James Kuffner and Koichi Nishiwaki and Satoshi Kagami and Masayuki Inaba and Hirochika Inoue",
   title = "Motion Planning for Humanoid Robots",
   booktitle = "Proc. 11th Int? Symp. of Robotics Research (ISRR 2003)",
   month = "December",
   year = "2003",
}