Study on Humanoid Robot's Dual-arm Collision Avoidance Motion Planning Algorithm

Aiming at humanoid robot's dual-arm collision avoidance motion planning, this paper firstly establishes kinematics model for humanoid robot and mathematic model for Workspace Target Areas (WTAs). Secondly, it has deduced inverse kinematics formula based on DLS-SVD method and proposed a bi-directional rapidly-exploring random tree collision avoidance motion planning algorithm. Finally, the effectiveness of the algorithm proposed in this paper has been verified via computer 3D simulation.