Study on Humanoid Robot’s Dual-arm Collision Avoidance Motion Planning Algorithm

DOI

10.2991/icmse-15.2015.226How to use a DOI?

Keywords

humanoid robot, dual-arm collision avoidance, bi-directional rapidly-exploring random tree, DLS-SVD method.

Abstract

Aiming at humanoid robot’s dual-arm collision avoidance motion planning, this paper firstly establishes kinematics model for humanoid robot and mathematic model for Workspace Target Areas (WTAs). Secondly, it has deduced inverse kinematics formula based on DLS-SVD method and proposed a bi-directional rapidly-exploring random tree collision avoidance motion 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  - Huazhong Li
AU  - Zhuo Liang
PY  - 2015/12
DA  - 2015/12
TI  - Study on Humanoid Robot’s Dual-arm Collision Avoidance Motion Planning Algorithm
BT  - Proceedings of the 2015 6th International Conference on Manufacturing Science and Engineering
PB  - Atlantis Press
SP  - 1238
EP  - 1246
SN  - 2352-5401
UR  - https://doi.org/10.2991/icmse-15.2015.226
DO  - 10.2991/icmse-15.2015.226
ID  - Li2015/12
ER  -