89documents trouvés
Experiments on whole-body manipulation and locomotion with footstep real-time optimization
N.DANG, J.P.LAUMOND, F.LAMIRAUX
GEPETTO
Manifestation avec acte : IEEE-RAS International Conference on Humanoid Robots ( HUMANOIDS ) 2012 du 29 novembre au 01 décembre 2012, Osaka (Japon), 2012, 6p. , N° 12484
Lien : http://hal.archives-ouvertes.fr/hal-00727600
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This paper focuses on the experiments on the HRP-2 humanoid robot using a framework of manipulation and locomotion with real-time footstep adaptation. Two classes of experiments are presented. On the one hand, a grasping task at various height level illustrates a whole-body task in combination with locomotion. On the other, stepping over obstacle experiments illustrate the particularity of humanoid robots. In all presented examples, footsteps are considered as a part of the robot's kinematic chain and are resolved as an optimization problem along with other degrees of freedom of the robot. The environment is perceived by the stereo vision system mounted on the robot which closes the loop with the control through a online footstep adaptation scheme.
Reliable indoor navigation on humanoid robots using vision-based localization
T.MOULARD, P.FERNANDEZ ALCANTARILLA, F.LAMIRAUX, O.STASSE, F.DELLAERT
GEPETTO, ISIT, Georgia Institute
Rapport LAAS N°12549, Octobre 2012, 7p.
Lien : http://hal.archives-ouvertes.fr/hal-00733666
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Reliable localization on a humanoid robot is a sine qua non condition to succeed in realizing complex robotics scenarios. Before dealing with perturbations and online modification of the environment, one has to make sure that the planned trajectory alone will be correctly followed. This paper demonstrates that a control framework suited to humanoid robots relying on a vision-based localization system can achieve this goal. Our localization framework is based on a real-time vision-based localization system that assumes that a pre-existing 3D map of the environment exists and allows to obtain accurate results in complex robotics scenarios. By compensating for execution errors such as drifts and robot model errors, the HRP-2 robot is able to achieve high precision tasks.
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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127723Trajectory following for legged robots
T.MOULARD, F.LAMIRAUX, O.STASSE
GEPETTO, AIST
Manifestation avec acte : International Conference on Biomedical Robotics and Biomechatronics (BioRob'2012), Rome (Italie), 24-28 Juin 2012, 6p. , N° 11429
Lien : http://hal.archives-ouvertes.fr/hal-00601291/fr/
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While robust trajectory following is a well-studied problem on mobile robots, the question of how to track accurately a trajectory on a humanoid robot remains open. This paper suggests a closed-loop trajectory tracking strategy aimed at humanoid robots. Compared to approaches from mobile robotics, this control scheme takes into account footsteps alteration, equilibrium constraints and singularities avoidance for humanoids. It provides a robust way to execute long and/or precise motion with the ability of correcting on-line preplanned trajectories in a very reactive manner. Results have been validated on the HRP-2 humanoid platform.
Real-time footstep planning for humanoid robots among 3D obstacles using a hybrid bounding box
N.PERRIN, O.STASSE, F.LAMIRAUX, Y.J.KIM, D.MANOCHA
GEPETTO, AIST, Seoul, North Carolina
Manifestation avec acte : IEEE International Conference on Robotics and Automation (ICRA 2012), St Paul (USA), 14-18 Mai 2012, pp.977-982 , N° 12055
Lien : http://hal.archives-ouvertes.fr/hal-00668794
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In this paper we introduce a new bounding box method for footstep planning for humanoid robots. Similar to the classic bounding box method (which uses a single rectangular box to encompass the robot) it is computationally efficient, easy to implement and can be combined with any rigid body motion planning library. However, unlike the classic bounding box method, our method takes into account the stepping over capabilities of the robot, and generates precise leg trajectories to avoid obstacles on the ground. We demonstrate that this method is well suited for footstep planning in cluttered environments.
Fast humanoid robot collision-free footstep planning using swept volume approximations
N.PERRIN, O.STASSE, L.BAUDOUIN, F.LAMIRAUX, E.YOSHIDA
AIST, GEPETTO
Revue Scientifique : IEEE Transactions on Robotics, Vol.28, N°2, pp.427-439, Avril 2012 , N° 12166
Lien : http://hal.archives-ouvertes.fr/hal-00662550
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In this paper, we propose a novel and coherent framework for fast footstep planning for legged robots on a flat ground with 3D obstacle avoidance. We use swept volume approximations computed offline in order to considerably reduce the time spent in collision checking during the online planning phase, in which an RRT variant is used to find collision-free sequences of half-steps (produced by a specific walking pattern generator). Then, an original homotopy is used to smooth the sequences into natural motions avoiding gently the obstacles. The results are experimentally validated on the robot HRP-2.
Dynamic 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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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.
A General Framework for Planning Landmark-Based Motions for Mobile Robots
A.C.MALTI, F.LAMIRAUX, M.TAIX
GEPETTO
Revue Scientifique : Advanced Robotics, Vol.25, N°11-12, pp.1427-1450, Novembre 2011 , N° 09670
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128053A framework for manipulation and locomotion with realtime footstep replanning
N.DANG, F.LAMIRAUX, J.P.LAUMOND
GEPETTO
Manifestation avec acte : IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS 2011), Bled (Slovénie), 26-28 Octobre 2011, pp.676-681 , N° 11846
Lien : http://hal.archives-ouvertes.fr/hal-00697564
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This paper focuses on realization of tasks with locomotion on humanoid robots. Locomotion and whole body movement are resolved as one unique problem. The same planner and controller are used for both stages of the movement. Final posture and footprint placements are found by resolving an optimization problem on the robot augmented by its footprints. Footstep replanning is done in realtime to correct perception and execution errors. The framework is demonstrated with the HRP-2 robot in a number of different scenarios
Real-time replanning using 3D environment for humanoid robot
L.BAUDOUIN, N.PERRIN, T.MOULARD, F.LAMIRAUX, O.STASSE, E.YOSHIDA
GEPETTO, AIST
Manifestation avec acte : IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS 2011), Bled (Slovénie), 26-28 Octobre 2011, pp.584-589 , N° 11369
Lien : http://hal.archives-ouvertes.fr/hal-00601300/fr/
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In this paper, we illustrate experimentally an origi- nal real-time replanning scheme and architecture for humanoid robot reactive walking. Based on a dense set of actions, our approach uses a large panel of the humanoid robot capabilities and is particularly well suited for 3D collision avoidance. Indeed A-* approaches becomes difficult in such situation, thus the method demonstrated here relies on RRT. Combined with an approximation of the volume swept by the robot legs while walking, our method is able to cope with 3D obstacles while maintaining real-time computation. We experimentally validate our approach on the robot HRP-2.