Collision free whole-body Motion Planing on Humanoid Robots

There exist robust techniques for doing collision-free motion planning on fixed base or planar base robots (rovers). However, when applying these techniques to floating based systems, such as humanoids, balance and contacts and high number of DoF have to be dealt with. I will talk about our approach to combine sequential quadratic programming, collision detection and avoidance techniques, and sampling based planning to plan whole body poses and trajectories on humanoid robots using noisy sensor data from real world.