EAN: 9781849962193

MOTION PLANNING FOR HUMANOID ROBOTS GEBUNDEN

Research on humanoid robots has been mostly with the aim of developing robots that can replace
humans in the performance of certain tasks. Motion planning for these robots can be quite
difficult  due to their complex kinematics  dynamics and environment. It is consequently one of
the key research topics in humanoid robotics research and the last few years have witnessed
considerable progress in the field. Motion Planning for Humanoid Robots surveys the remarkable
recent advancement in both the theoretical and the practical aspects of humanoid motion
planning. Various motion planning frameworks are presented in Motion Planning for Humanoid
Robots  including one for skill coordination and learning  and one for manipulating and
grasping tasks. The problem of planning sequences of contacts that support acyclic motion in a
highly constrained environment is addressed and a motion planner that enables a humanoid robot
to push an object to a desired location on a cluttered table is described. The main areas of
interest include: - whole body motion planning  - task planning  - biped gait planning  and -
sensor feedback for motion planning. Torque-level control of multi-contact behavior  autonomous
manipulation of moving obstacles  and movement control and planning architecture are also
covered. Motion Planning for Humanoid Robots will help readers to understand the current
research on humanoid motion planning. It is written for industrial engineers  advanced
undergraduate and postgraduate students.

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