Simultaneous whole-body/foot-place planning for full-body humanoid robots

This paper proposes a method for simultaneously planning the whole-body-motion and the footplace for a humanoid robot dynamically walking on the flat ground. As constraint conditions imposed on the planner, we consider the differential equation of the robot's motion. To solve this constraint, we use the real-time walking pattern generator. We randomly sample the configuration space to search for the path connecting the start and the goal configurations. When sampling the configuration space, a few milestones are sequentially connected to the parent milestone. To show the effectiveness of the proposed method, we show an experimental result where the humanoid robot HRP-2 avoids the obstacle dynamically walking on the ground.