scholarly journals Optimum Biped Trajectory Planning for Humanoid Robot Navigation in Unseen Environment

10.5772/9262 ◽  
2010 ◽  
Author(s):  
Hanafiah Yussof ◽  
Masahiro Ohk
Keyword(s):  
Trajectory Planning ◽  
Humanoid Robot ◽  
Robot Navigation

Fast and accurate humanoid robot navigation guided by stereovision

2009 ◽  
Author(s):  
Chen Guod ◽  
Ming Xie ◽  
Zeyang Xia ◽  
Lining Sun ◽  
Junhong Ji ◽  
...  
Keyword(s):  
Humanoid Robot ◽  
Robot Navigation

Humanoid Robot Arm Kinematics Modeling and Motion Planning

2014 ◽  
Vol 644-650 ◽  
pp. 247-250
Author(s):  
Qin Jun Du ◽  
Xue Yi Zhang ◽  
Shi Long Zhai
Keyword(s):  
Trajectory Planning ◽  
Humanoid Robot ◽  
Joint Angle ◽  
Interpolation Method ◽  
Angular Acceleration ◽  
Polynomial Method ◽  
Robot Arm ◽  
Quintic Polynomial ◽  
Kinematics Modeling ◽  
Cubic Polynomial

This paper establishes the kinematics model of humanoid robot arm, the arm forward kinematics equations were built and solved, based on the advantages of CCD (Cyclic Coordinate Descent) and BFS (Broyden-Fletcher-Shanno) algorithm to solve the inverse kinematics of humanoid robot arm. In the joint space, using cubic polynomial and quintic polynomial interpolation method respectively for each joint angle interpolation. Cubic polynomial trajectory planning can meet the point-to-point movement in general, but can not guarantee the continuity of acceleration of each point; Quintic polynomial trajectory planning can ensure that each point is continuous of the joint angle, angular velocity, and angular acceleration, so this polynomial method can meet the movement of the humanoid robot arm.

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