Kinodynamic Motion Planners based on Velocity Interval Propagation

Stéphane Caron, Yoshihiko Nakamura, Quang-Cuong Pham. RSJ 2013, Tokyo, Japan, September 2013.


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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  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},
  organization = {RSJ}
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