Motion Planning for Humanoid Robots
Research on humanoid robots has been mostly with the aim of developing robots that can replace humans in the performance of certain tasks. Motion planning for these robots can be quite difficult, due to their complex kinematics, dynamics and environment.
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Kensuke Harada Eiichi Yoshida Kazuhito Yokoi Editors
Motion Planning for Humanoid Robots
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Dr. Kensuke Harada Dr. Eiichi Yoshida Dr. Kazuhito Yokoi National Institute of Advanced Industrial Science and Technology Intelligent Systems Research Institute Tsukuba Central 2 Umezono, 1-1-1 305-8568 Tsukuba-shi, Ibaraki Japan [email protected] [email protected] [email protected]
ISBN 978-1-84996-219-3 e-ISBN 978-1-84996-220-9 DOI 10.1007/978-1-84996-220-9 Springer London Dordrecht Heidelberg New York British Library Cataloguing in Publication Data A catalogue record for this book is available from the British Library Library of Congress Control Number: 2010930008 © Springer-Verlag London Limited 2010 KineoWorks is a trademark of Kineo CAM Corporation, MINIPARC – Bat. 2, Rue de la Découverte, BP 57748, 31677 LABEGE CEDEX, FRANCE, (RCS TOULOUSE B 433 754 090), http://www.kineocam.com Apart from any fair dealing for the purposes of research or private study, or criticism or review, as permitted under the Copyright, Designs and Patents Act 1988, this publication may only be reproduced, stored or transmitted, in any form or by any means, with the prior permission in writing of the publishers, or in the case of reprographic reproduction in accordance with the terms of licences issued by the Copyright Licensing Agency. Enquiries concerning reproduction outside those terms should be sent to the publishers. The use of registered names, trademarks, etc. in this publication does not imply, even in the absence of a specific statement, that such names are exempt from the relevant laws and regulations and therefore free for general use. The publisher makes no representation, express or implied, with regard to the accuracy of the information contained in this book and cannot accept any legal responsibility or liability for any errors or omissions that may be made. Cover design: eStudioCalamar, Figueres/Berlin Printed on acid-free paper Springer is part of Springer Science+Business Media (www.springer.com)
Preface
Since one of the goals of robotics research is to realize the robot that can automatically work like a human, the research on the motion planning for a humanoid robot is considered to be essential and important. However, the motion planning for a humanoid robot can be quite difficult due to their complex kinematics, dynamics and environment. It is consequently one of the key research topics in humanoid robotics research and the last few years have witnessed considerable progress in the field. This book surveys the remarkable recent advancement in both the theoretical and the practical aspects of humanoid motion planning. Various motion planning frameworks are presented in this book, including one for skill coordination and learning, and one for manipulating and grasping tasks. This book is composed of 10 chapters written by different robotics researchers. The editors organized workshop on motion planning for humanoid robots in conjunction with the IEEE-RAS International Conference on Humanoid Robots
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