GIRRT Motion Planning Algorithm for Humanoid Robot
- https://doi.org/10.2991/icmmcce-15.2015.188How to use a DOI?
- humanoid robot; manipulation; rapidly-exploring random tree; generalized inverse
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.
- © 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/).
Cite this article
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 - https://doi.org/10.2991/icmmcce-15.2015.188 ID - Li2015/12 ER -