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Paper FrA4.4

lengagne, sebastien (LIRMM), Ramdani, Nacim (INRIA Sophia Antipolis - Méditerranée), Fraisse, Philippe (LIRMM)

Safe Motion Planning Computation for Databasing Balanced Movement of Humanoid Robots

Scheduled for presentation during the Regular Sessions "Motion and Path Planning - I" (FrA4), Friday, May 15, 2009, 09:30−09:50, Room: 402

2009 IEEE International Conference on Robotics and Automation, May 12 - 17, 2009, Kobe, Japan

This information is tentative and subject to change. Compiled on January 21, 2022

Keywords Motion and Path Planning, Legged Robots and Humanoid Locomotion, Humanoid Robots

Abstract

Motion databasing is an important topic in robotics research. Humanoid robots have a large number of degrees of freedom and their motions have to satisfy a set of constraints (balance, maximal joint torque velocity and angle values). Thus motion planning cannot efficiently be done online. The computation of optimal motions is performed offline to create databases that transform the problem of large computation time into a problem of large memory space. Motion planning can be seen as a Semi-Infinite Programming problem (SIP) since it involves a finite number of variables over an infinite set of constraints. Most methods solve the SIP problem by transforming it into a finite programming one using a discretization over a prescribed grid. We show that this approach is risky because it can lead to motions which may violate one or several constraints. Then we introduce our new method for planning safe motions. It uses Interval Analysis techniques in order to achieve a safe discretization of the constraints. We show how to implement this method and use it with state-of-the-art constrained optimization packages. Then, we illustrate its capabilities for planning safe motions dedicated to the HOAP-3 humanoid robot.

 

 

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