Study on humanoid online motion planning

A humanoid online motion planning method is proposed using description of selected variables. The proposed method changes humanoid motion planning into planning of several selected variables. And these variables are chosen to reflect the motion state of humanoid robots, including ZMP, Center of Gravity (CoG), Center of Coxa (CoC), foot position and the rotation matrices between some key frames. Then the planning flows of the variables are shown and the dynamical and physical constraints of humanoid walking are considered simultaneously. Finally, efficiency and feasibility of proposed method are validated using kinematics and dynamics simulation, and ongoing and future work is pointed out.