1A1-B07 Passing Under Obstacle with Humanoid Robots : Analysis of Human Passing Under Motion

Abstract

This paper studies locomotion planning of humanoid robots to pass under obstacles. In accordance with analyses of experimental motions of human passing under obstacle, we propose a new category of humanoid's motion that a humanoid turns sideways to pass under obstacle. Possible initial and goal configurations of the motion are calculated with humanoid robot HRP-2 model.