Path Optimization for Humanoid Walk Planning: an Efficient Approach

Antonio El Khoury (1) , Michel Taïx (1) , Florent Lamiraux (1)

1 LAAS-GEPETTO - Équipe Mouvement des Systèmes Anthropomorphes

This paper deals with humanoid walk planning in cluttered environments. It presents a heuristic and efficient optimization method that takes as input a path computed for the robot bounding box, and produces a path where a discrete set of configurations is reoriented using an A* search algorithm. The resulting trajectory is realistic and time-optimal. This method is validated in various scenarios on the humanoid robot HRP-2.

Mots clés: humanoid robot; motion planning; walk planning; nonholonomic; holonomic; optimization; A; HRP-2; sampling

Domaines: Robotique [cs.RO]

Antonio El Khoury, Michel Taïx, Florent Lamiraux. Path Optimization for Humanoid Walk Planning: an Efficient Approach. Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics, Jul 2011, Noordwijkerhout, Netherlands. pp.179 - 184. ⟨hal-00572375v3⟩