Path Planning and Optimization of Humanoid Manipulator in Cartesian Space
作者机构：School of Mechanical Science and EngineeringHuazhong University of Science and TechnologyWuhan430074China Ubtech Robotics Co.Ltd.Shenzhen518000GuangdongChina
出 版 物：《Journal of Shanghai Jiaotong university(Science)》 (上海交通大学学报（英文版）)
年 卷 期：2022年第27卷第5期
页 面：614-620页
核心收录：
学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程]
基 金：The Key-Area Research and Development Program of Guangdong Province China(No.2019B010154003)
主 题：humanoid manipulator path planning rapidly-exploring random tree greedy growth reverse optimization pose search
摘 要：To solve the problems of low efficiency and multi-solvability of humanoid manipulator Cartesian space path planning in physical human-robot interaction,an improved bi-directional rapidly-exploring random tree algorithm based on greedy growth strategy in 3D space is *** workspace of manipulator established based on Monte Carlo method is used as the sampling space of the rapidly-exploring random tree,and the opposite expanding greedy growth strategy is added in the random tree expansion process to improve the path planning *** the generated path is reversely optimized to shorten the length of the planned path,and the optimized path is interpolated and pose searched in Cartesian space to form a collision-free optimized path suitable for humanoid manipulator ***,the validity and reliability of the algorithm are verified in an intelligent elderly care service scenario based on Walker2,a large humanoid service robot.
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