Multi-Contact Locomotion Planning for Humanoid Robot Based on Sustainable Contact Graph with Local Contact Modification

In this paper, we propose a graph-search based multi-contact locomotion planning method for humanoid robots, focusing on the sustainability of contacts as its key feature. We introduce the idea of sustainable contact area, which represents the area on which contacts can be maintained during contact...

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Veröffentlicht in:	IEEE robotics and automation letters 2020-10, Vol.5 (4), p.1-1
Hauptverfasser:	Kumagai, Iori, Morisawa, Mitsuharu, Hattori, Shizuko, Benallegue, Mehdi, Kanehiro, Fumio
Format:	Artikel
Sprache:	eng
Schlagworte:	Computational modeling Computer simulation Graphical representations Humanoid Humanoid and Bipedal Locomotion Humanoid Robot Systems Humanoid robots Kinematics Locomotion Multi-Contact Whole-Body Motion Planning and Control Nodes Planning Random sampling Robot dynamics Robots Search problems Searching Static equilibrium Sustainability Sustainable development
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