Whole-Body Motion Planning

This chapter addresses whole-body motion planning for humanoid robots. Taking advantage of recent progress of motion planning techniques for many degrees of freedom (DOF) systems, early work in humanoid motion planning started with a two-stage approach that utilizes kinematic and geometric motion planning to plan a rough path that is later transformed into a whole-body motion including locomotion with a dynamic biped walking pattern generator. Subsequent progress beyond this functional decomposition is to exploit all the DOFs for the desired task. Whole-body motion planning was then tackled by integrating generalized inverse kinematics that allows achieving the specified tasks by taking into account such constraints as balance, foot positions or joint limits at the same time. Some applications are presented such as reactive planning in changing cluttered environments, whole-body manipulation of bulky objects, and footstep planning by variable kinematic modeling of footholds. The effectiveness of the proposed methods have been validated through experiments with the human-size humanoid platform HRP-2.

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