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Humanoid robot path planning using rapidly explored random tree and motion primitives

Szumowski Maksymilian, Zielinska Teresa

Journal of Automation Mobile Robotics and Intelligent Systems

2021

Vol. 15, No. 1

24--30

Path planning is an essential function of the control sy‐ stem of any mobile robot. In this article the path planner for a humanoid robot is presented. The short description of an universal control framework and the Motion Ge‐ neration System is also presented. Described path plan‐ ner utilizes a limited number of motions called the Mo‐ tion Primitives. They are generated by Motion Generation System. Four different algorithms, namely the: Informed RRT, Informed RRT with random bias, and RRT with A* like heuristics were tested. For the last one the version with biased random function was also considered. All menti‐ oned algorithms were evaluated considering three diffe‐ rent scenarios. Obtained results are described and discus‐ sed.

Solution of an inverse kinematics problem using dual quaternions

Chen Lei, Zielinska Teresa, Wang Jikun, Ge Weimin

International Journal of Applied Mathematics and Computer Science

2020

Vol. 30, no. 2

351--361

The paper proposes a solution to an inverse kinematics problem based on dual quaternions algebra. The method, relying on screw theory, requires less calculation effort compared with commonly used approaches. The obtained kinematic description is very concise, and the singularity problem is avoided. The dual quaternions formalism is applied to the problem decomposition and description. As an example, the kinematics problem of a multi-DOF serial manipulator is considered. Direct and inverse kinematics problems are solved using division into sub-problems. Each new sub-problem proposed is concerned with rotation about two subsequent axes by a given amount. The presented example verifies the correctness and feasibility of the proposed approach.