Adaptive motion planning for humanoid robots

摘要

Motion planning for robots with many degrees of freedom (DoF) is a generally unsolved problem in the robotics context. In this work an approach for trajectory planning is presented, which takes account of the different kinematic parts of a humanoid robot. Since not all joints of the robot are important for different planning phases, the RRT-based planner is able to adapt the number of DoF on the fly to improve the performance and the quality of the results. The runtime of the approach is evaluated in comparison to a standard RRT planner. Futhermore several extensions to the algorithm are investigated.