2P1-F16 Path Smoothing for Humanoid Motion Planning using B-spline

Abstract

In this paper, we propose a method to convert a motion path of a humanoid robot generated by using the PRM planner to a smooth one. By using our method, we can generate the smooth path with avoiding the collision among the links and between a link and the environment. After generating a path by using the PRM, we first make the length of the path shorter by using the random sampling technique. Then, by changing the number of nodes of the B-spline interpolation function, we show that the smooth trajectory can be obtained. The effectiveness of the proposed method is confirmed by several numerical examples.