Real-time predictive kinematic evaluation and optimization for biped robots

• Published in: 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) pp. 5789 - 5796
• Main Authors: Hildebrandt, Arne-Christoph, Demmeler, Manuel, Wittmann, Robert, Wahrmann, Daniel, Sygulla, Felix, Rixen, Daniel, Buschmann, Thomas
• Format: Conference Proceeding
• Language: English
• Published: IEEE 01.10.2016
• Subjects: Collision avoidance; Kinematics; Legged locomotion; Optimization; Robot kinematics; Trajectory

Collision-free walking in cluttered environments is still an open issue for humanoids. Most current approaches use heuristics with large safety margins to plan the robot's motion. That way, the chance of collisions can be greatly reduced but the robot movements are artificially limited. In this...