Motion autonomy for humanoids: experiments on HRP‐2 No. 14

Abstract

Abstract This paper deals with whole‐body motion planning and dynamic control for humanoid from two aspects: locomotion including manipulation and reaching. In the first part, we address a problem of simultaneous locomotion and manipulation planning that combines a geometric and kinematic motion planner with a dynamic humanoid motion generator. The second part deals with whole‐body reaching tasks by using a generalized inverse kinematics (IK) method to fully exploit the high redundancy of the humanoid robot. Through experiments using humanoid platform HRP‐2 No. 14 installed at LAAS‐CNRS, we first verify the validity of each method. An integrated experiment is then presented that unifies the both results via visual perception to execute an object‐fetching task. Copyright © 2009 John Wiley & Sons, Ltd.