Whole-Body Task Planning for a Humanoid Robot: a Way to Integrate Collision Avoidance

Sébastien Dalibard (1) , Alireza Nakhaei (1) , Florent Lamiraux (1) , Jean-Paul Laumond (1)

1 LAAS-GEPETTO - Équipe Mouvement des Systèmes Anthropomorphes

This paper deals with motion planning for a humanoid robot under task constraints. It presents a novel random method, inspired by the RRT-Connect algorithm, that uses a local task solver to generate statically stable collision-free configurations. It is able to plan motions for a large variety of tasks. In an experimental section, we compare in details this random strategy with a local collision avoidance method found in the literature.

Domaines: Robotique [cs.RO]

Sébastien Dalibard, Alireza Nakhaei, Florent Lamiraux, Jean-Paul Laumond. Whole-Body Task Planning for a Humanoid Robot: a Way to Integrate Collision Avoidance. IEEE International Conference on Humanoid Robots, Dec 2009, Paris, France. pp.1-6. ⟨hal-00450897⟩