Natural Motion Planning for Visually-Guided Tasks in Representation Space

Abstract

This paper proposes a Hierarchical Task-guided Motion Planning (HTMP) scheme integrating Representation Space (R-space) model to address the motion planning problem in complex visually-guided tasks. The main characteristic of HTMP scheme is the interaction between task level and motion level. Such an interaction is based on the modification of R-space. When current R-space model and planner is unable to generate a feasible path, the dimension of R-space can be expanded to increase the flexibility of planning, which meets the extra requirements of natural motion. Simulation results verified the performance of the proposed method in various tasks fulfilled by a humanoid robot.