Dynamic Humanoid H6:
Fast Manipulation Path Planning
for Humanoid Robots

James Kuffner, Jr.
Koichi Nishiwaki
Satoshi Kagami
Masayuki Inaba
Hirochika Inoue

Department of Mechano-Informatics
The University of Tokyo
7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656 JAPAN


We present an interactive manipulation path planner under development for providing high-level task-based control for humanoid robots. Using a graphical simulation environment, the software is designed to facilitate the automation of object grasping and manipulation tasks. A randomized path planner is used to directly search the free configuration space of the robot for a collision-free manipulation path. Experimental results are shown using a model of the dynamic humanoid ``H6'' robot in a virtual world.

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