4documents trouvés
Optimal motion planning for humanoid robots
A.EL KHOURY, F.LAMIRAUX, M.TAIX
GEPETTO
Rapport LAAS N°12383, Juillet 2012, 7p.
Lien : http://hal.archives-ouvertes.fr/hal-00715419
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127723Dynamic walking makes humanoid robot small-space controllable: application to motion planning
S.DALIBARD, A.EL KHOURY, F.LAMIRAUX, M.TAIX, J.P.LAUMOND
GEPETTO
Rapport LAAS N°11697, Décembre 2011, 21p.
Lien : http://hal.archives-ouvertes.fr/hal-00654175
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Abstract
This paper presents a general method for planning collision-free whole-body walking motions for humanoid robots. First, we present a randomized algorithm for constrained motion planning, that is used to generate collision-free statically balanced paths solving manipulation tasks. Then, we show that dynamic walking makes humanoid robots small-space controllable. Such a property allows to easily transform collision-free statically balanced paths into collision-free dynamically balanced trajectories. It leads to a sound algorithm which has been applied and evaluated on several problems where whole-body planning and walk are needed, and the results have been validated on a real HRP-2 robot.
Small-space controllability of a walking humanoid robot
S.DALIBARD, A.EL KHOURY, F.LAMIRAUX, M.TAIX, J.P.LAUMOND
GEPETTO
Manifestation avec acte : IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS 2011), Bled (Slovénie) , 26-28 Octobre 2011, pp.739-744 , N° 11367
Lien : http://hal.archives-ouvertes.fr/hal-00602384/fr/
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Abstract
This paper presents a two-stage motion planner for walking humanoid robots. A first draft path is computed using random motion planning techniques that ensure collision avoidance. In a second step, the draft path is approximated by a whole-body dynamically stable walk trajectory. The contributions of this work are: (i) a formal guarantee, based on smalltime controllability criteria, that the first draft path can be approximated by a collision-free dynamically stable trajectory; (ii) an algorithm that uses this theoretical property to find a solution trajectory. We have applied our method on several problems where whole-body planning and walk are needed, and the results have been validated on a real platform: the robot HRP-2.
Path optimization for humanoid walk planning: an efficient approach
A.EL KHOURY, M.TAIX, F.LAMIRAUX
GEPETTO
Manifestation avec acte : International Conference on Informatics in Control Automation and Robotics (ICINCO 2011), Noordwijkerout (Pays Bas), 28-31 Juillet 2011, 6p. , N° 11399
Lien : http://hal.archives-ouvertes.fr/hal-00572375/fr/
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Abstract
This paper deals with humanoid walk planning in cluttered environments. It presents a heuristic and efficient optimization method that takes as input a path computed for the robot bounding box, and produces a path where a discrete set of configurations is reoriented using an A* search algorithm. The resulting trajectory is realistic and time-optimal. This method is validated in various scenarios on the humanoid robot HRP-2.