Rizwan
Rizwan Asif I am a technopreneur exploring the field of artificial intelligence to build the next big thing in tech. My vision for the world is to reduce human capital for low level system tasks and put humans in the higher decision making positions. We are not meant to sort stamp papers, we will give up that task to create something beautiful. 1 min read

Whole Body Motion Planning for Humanoid Robots with Heuristic Search

Authors: Ali Athar, Abdul Moeed Zafar, Rizwan Asif, Armaghan Ahmad Khan, Fahad Islam, Yasar Ayaz, Osman Hasan

DOI + Citation: https://doi.org/10.1109/IROS.2016.7759694

The task of whole-body motion planning for humanoid robots is challenging due to its high-DOF nature, stability constraints, and the need for obstacle avoidance and movements that are efficient. Over the years, various approaches have been adopted to solve this problem such as bounding-box models and jacobian-based techniques. More commonly though, sampling-based algorithms are employed for this task since they perform admirably well in high-dimensional spaces. As an alternative, search-based planners offer improvements in terms of optimality and consistency of the solution. However, they are normally considered impractical for high-dimensional motion planning. In this paper, we present a heuristic search-based motion planning framework for humanoid robots that circumvents the drawbacks traditionally associated with search-based planners while catering to the specific requirements of humanoid motion planning. This is achieved primarily through a combination of informative yet computationally inexpensive heuristics, carefully crafted motion primitives as atomic actions, and a whole body inverse kinematics solver for achieving desired end effector orientations. The experimental results show the ability of our framework to perform complex motion planning tasks quickly and efficiently.

Rizwan
Rizwan Asif I am a technopreneur exploring the field of artificial intelligence to build the next big thing in tech. My vision for the world is to reduce human capital for low level system tasks and put humans in the higher decision making positions. We are not meant to sort stamp papers, we will give up that task to create something beautiful. 1 min read

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