Kinodynamic Motion Planners based on Velocity Interval Propagation

Abstract

Humanoid robotics has spawned several fields of active research. When it comes to dynamic motion control, three lines of work stand out: reduced models (combined with inverse kinematics), local controllers and global planning. In the present paper, we present and further develop a motion planning approach recently proposed in [10], which allows planning with dynamics constraints while staying in the configuration space; thus avoiding the complexity explosion mentioned above. We briefly discuss how this approach can be extended to handle ZMP constraints, which may give rise to a new family of efficient motion planners for humanoid robots.

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BibTeX

@inproceedings{caron2013rsj,
  title = {Kinodynamic Motion Planners based on Velocity Interval Propagation},
  author = {Caron, St{\'e}phane and Nakamura, Yoshihiko and Pham, Quang-Cuong},
  booktitle = {Proceedings of the 31st Annual Conference of the Robotics Society of Japan},
  year = {2013},
}