Collision Avoidance Planning of a Humanoid Robot under Dynamic Walking

Abstract

In this paper, we plan the collision free motion when generating the walking pattern of a humanoid robot. Our motion planner can take into account several features of the walking pattern generator. We first run the walking pattern generator by considering the contact wrench applied to the robot while monitoring the collision among the links and the environments. Then, we plan the motion of the robot avoiding the collision. In our motion planner, by considering the constraint condition which are the functions of time, we can plan the motion of the robot with keeping the horizontal position of the COG as well as the feet/hand position. By using the proposed planner, the robot can avoid the collision with keeping balance. The effectiveness of the proposed method is confirmed by simulation and experiment.