In the current literature for non-gaited humanoid motion planning, stances (i.e., contact locations) are usually planned in a first step, after which joint-angle trajectories are interpolated or planned themselves. In this paper, we propose an alternative where planning is driven by center-of-mass motions rather than stances. Our approach uses a randomized motion planner as its first layer to explore the space of horizontal CoM coordinates (x_G, y_G). At a lower level, we propose a custom method to extend stances based on a desired CoM position. We evaluate the ability of the resulting planner in a rubble-field 3D environment with a model of the HYDRA humanoid robot.
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