GIRRT Motion Planning Algorithm for Humanoid Robot

DOI

10.2991/icmmcce-15.2015.188How to use a DOI?

Keywords

humanoid robot; manipulation; rapidly-exploring random tree; generalized inverse

Abstract

Aiming at such problems as unknown goal configuration, grasp space limitation, a large number of barriers in configuration space and high-dimension space redundancy during planning motion of humanoid robot arms grasping target, this paper proposes a generalized inverse rapid-exploring random tree (GIRRT) collision avoidance method. Firstly, it establishes kinematics and inverse kinematics models for upper arm of humanoid robot based on hierarchical sub-dimension space motion planning concept model. Secondly, it proposes a weighted minimal norm GIRRT planning algorithm. Finally, the effectiveness of the algorithm proposed in this paper has been verified via computer 3D simulation.

Copyright

© 2015, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Hua-Zhong Li
AU  - Zhuo Liang
PY  - 2015/12
DA  - 2015/12
TI  - GIRRT Motion Planning Algorithm for Humanoid Robot
BT  - Proceedings of the 4th International Conference on Mechatronics, Materials, Chemistry and Computer Engineering 2015
PB  - Atlantis Press
SP  - 1171
EP  - 1179
SN  - 2352-538X
UR  - https://doi.org/10.2991/icmmcce-15.2015.188
DO  - 10.2991/icmmcce-15.2015.188
ID  - Li2015/12
ER  -