Abstract
In this paper, a global motion planning method for humanoid robots is proposed. Humans can walk and take an object with little consciousness. However it is necessary to give some information which is where to stand, how to grasp, and so on to humanoid robot. The proposed planner decides a target standing position considering a sequence of motions according to different given task. By evaluating planned sets of the walking motion and the grasping motion, an optimal global motion for the given task is selected.
