抄録
In this paper, we propose an effective planning method of humanoid robots under various conditions for achieving the task. In the motion planning, a number of constraint conditions, specifically maintaining balance in whole-body motion, have to be considered over motion duration. Furthermore, rapid planning for the robots is an essential problem to be effective in a human environment. In this research, the suitable motions are designed by assigning appropriate via-point constraints. Furthermore, the feasible motions for achieving the task can be quickly planned by modifying via-points. We formulate the motion-planning problem as a simple iterative method with linear programming problem. We applied the method to generate the kicking motion of a HOAP-3 humanoid robot. We confirmed that the robot could plan kicking motions in short time and successfully score a goal corresponding to surrounding conditions by using the proposed method.
