Motion Planning of Half-Humanoid in the Presence of Obstacle

In this work, path planning and dynamic analysis of half humanoid is presented for object manipulation in approach and post grasping phases. First, the kinematic and dynamic modelling of the half humanoid is presented. Next, Rapidly Exploring Random Tree Star (RRT∗) is used to find a collision-free path in approach phase, and path smoothing is done by reducing the redundant points in the generated path. Continuous motion planning is achieved by interpolating each path segment, generated using RRT∗, with a cubic polynomial trajectory. Finally, numerical studies are presented for 12-DoF Half Humanoid manipulating an object.