Yoshida, EiichiLaumond, Jean-PaulEsteves, ClaudiaKanoun, OussamaMallet, AnthonySakaguchi, TakeshiYokoi, Kazuhito2010-11-302010-11-302010-11-30200910.1002/cav.280https://infoscience.epfl.ch/handle/20.500.14299/59661WOS:000271559700004This paper deals with whole-body motion planning and dynamic control for humanoid from two aspects: locomotion including manipulation and reaching. In the first part, we address a problem of simultaneous locomotion and manipulation planning that combines a geometric and kinematic motion planner with a dynamic humanoid motion generator. The second part deals with whole-body reaching tasks by using a generalized inverse kinematics (IK) method to fully exploit the high redundancy of the humanoid robot. Through experiments using humanoid platform HRP-2 No. 14 installed at LAAS-CNRS, we first verify the validity of each method. An integrated experiment is then presented that unifies the both results via visual perception to execute an object-fetching task. Copyright (C) 2009 John Wiley & Sons, Ltd.motion planninghumanoidwhole-body motoinlocomotiontext::journal::journal article::research article