We design a framework about the planning of whole body motion for humanoid robots.Motion planning with various constraints is essential to success the task.In this research, we propose a motion planning method corresponding to various conditions for achieving the task.
We specify some via-points to deal with the conditions for target achievement depending on various constraints.Together with PRO MG 12 MIXED BERRY certain constraints including task accomplishment, the via-point representation plays a crucial role in the optimization process of our method.Furthermore, the via-points as the optimization parameters are related to some physical conditions.
We applied this method to generate the kicking motion of a humanoid robot HOAP-3.We have confirmed that the robot was able to complete the task of kicking a ball over an obstacle into a goal in addition to changing conditions of the location of a ball.These results show that the proposed motion planning Cleansing Milk method using via-point representation can increase articulation of the motion.