2A1-D12 Passing Under Obstacles with Humanoid Robots : Sideway Passing Under Motion Experiment

In our previous works, we categorized humanoid sideway passing under motion as three sub-motions (approaching motion, passing motion and departing motion) and realized passing motion. In this study, we propose a motion planning method for approaching and departing of sideway passing under an obstacle with a humanoid. The effectiveness of the proposed method is experimentally confirmed with humanoid robot HRP-2.