89documents trouvés
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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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.
Weakly collision-free paths for continuous humanoid footstep planning
N.PERRIN, O.STASSE, F.LAMIRAUX, E.YOSHIDA
GEPETTO, AIST
Manifestation avec acte : IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011), San Francisco (USA), 25-30 Septembre 2011, pp.4408-4413 , N° 11577
Lien : http://hal.archives-ouvertes.fr/hal-00639026/fr/
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In this paper we demonstrate an original equivalence between footstep planning problems, where discrete sequences of steps are searched for, and the more classical problem of motion planning for a 2D rigid shape, where a continuous collision-free path has to be found. This equivalence enables a lot of classical motion planning techniques (such as PRM, RRT, etc.) to be applied almost effortlessly to the specific problem of footstep planning for a humanoid robot.
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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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.
Kinematic control of redundant manipulators: generalizing the task priority framework to inequality tasks
O.KANOUN, F.LAMIRAUX, P.B.WIEBER
GEPETTO, INRIA Rhône-Alpes
Revue Scientifique : IEEE Transactions on Robotics, Vol.27, N°4, pp.785-792, Juin 2011 , N° 11363
Lien : http://hal.archives-ouvertes.fr/hal-00486755/fr/
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The redundant mechanical systems like humanoid robots are designed to fulfill multiple tasks at a time. A task, in velocity-resolved inverse kinematics, is a desired value for a function of the robot configuration that can be regulated with an Ordinary Differential Equation. When facing simultaneous tasks, the corresponding equations can be grouped in a single system, or better, sorted in priority and solved each in the solutions set of higher priority tasks. This elegant framework for hierarchical task regulation has been implemented as a sequence of Least Squares problems. Its limitation lies in the handling of inequality constraints, which are usually transformed into more restrictive equality constraints through potential fields. In this paper, we propose a new prioritized task regulation framework based on a sequence of quadratic programs (QP) that removes the limitation. At the basis of the proposed algorithm is a study of the optimal sets resulting from the sequence of QPs. The algorithm is implemented and illustrated in simulation on the humanoid robot HRP-2.
Adaptive sampling-based approximation of the sign of multivariate real-valued functions
N.PERRIN, O.STASSE, F.LAMIRAUX, E.YOSHIDA
GEPETTO, AIST
Rapport LAAS N°11229, Mai 2011, 5p.
Lien : http://hal.archives-ouvertes.fr/hal-00544891/fr/
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In this technical report, we present an algorithm which approximates the sign of multivariate real-valued functions through adaptive sampling, and demonstrate a convergence result. The algorithm was specifically designed for real-time robotics applications where quick evaluations are often needed.
A biped walking pattern generator based on "Half-Steps" for dimensionality reduction
N.PERRIN, O.STASSE, F.LAMIRAUX, E.YOSHIDA
GEPETTO, AIST
Manifestation avec acte : IEEE International Conference on Robotics and Automation (IEEE ICRA 2011), Shanghaï (Chine), 9-13 Mai 2011, pp.1270-1275 , N° 11240
Lien : http://hal.archives-ouvertes.fr/hal-00593659/fr/
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We present a new biped walking pattern generator based on "half-steps". Its key features are a) a 3-dimensional parametrization of the input space, and b) a simple homotopy that efficiently smooths the gait trajectory corresponding to a fixed sequence of steps. We show how these features can be ideally combined in the framework of sampling-based gait planning. We apply our approach to the robot HRP-2 and are able to quickly produce smooth and dynamically stable trajectories that are solutions to a difficult problem of gait planning.
Manipulation of documented objects by a walking humanoid robot
S.DALIBARD, A.NAKHAEI SARVEDANI, F.LAMIRAUX, J.P.LAUMOND
GEPETTO
Manifestation avec acte : IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS 2010), Nashville (USA), 6-8 Décembre 2010, pp.518-523 , N° 10844
Lien : http://hal.archives-ouvertes.fr/hal-00518187/en/
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This paper deals with manipulation task planning for a humanoid robot while stepping. It introduces the concept of documented objects, i.e. objects that provide information on how to manipulate them. The planning phase is decoupled into two parts. First a random motion planner uses the documentation of the object to quickly plan a collision free motion for a simplified model of the robot manipulating the object. Then an inverse kinematics solver animates the whole set of the robot's degrees of freedom by converting the simplified path into time parametrized tasks. Several examples show the generalization of the method.
Sensor-based trajectory deformation: application to reactive navigation of nonholonomic robots
F.LAMIRAUX, O.LEFEBVRE
GEPETTO
Ouvrage (contribution) : Visual Servoing via Advanced Numerical Methods, Lecture Notes in Control and Information Sciences, Vol. 401, Springer, 422p, N°ISBN 978-1-84996-088-5, Juillet 2010, pp.315-334 , N° 10072
Lien : http://hal.archives-ouvertes.fr/hal-00451341/fr/
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121873Collision-free walk planning for humanoid robots using numerical optimization
T.MOULARD, F.LAMIRAUX, P.B.WIEBER
GEPETTO, INRIA Rhône-Alpes
Rapport LAAS N°10317, Juin 2010, 5p.
Lien : http://hal.archives-ouvertes.fr/hal-00486997/fr/
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This paper addresses the problem of walk planning for a humanoid robot on a flat ground cluttered by obstacles. The algorithm we propose works in two steps. In a first step, a collision-free path for the bounding box of the robot moving in the horizontal plane is planned using classical path planning methods. In a second step, a spline is fit on the path and optimized using numerical optimization tools. The optimization criterion is time, constraints are defined by positive distance to obstacles and bounded velocities of the feet. The method has been tested on a real humanoid robot HRP-2.
Approximation of feasibility tests for reactive walk on HRP-2
N.PERRIN, O.STASSE, F.LAMIRAUX, E.YOSHIDA
GEPETTO, AIST
Manifestation avec acte : International Conference on Robotics and Automation (ICRA 2010), Anchorage (USA), 4-8 Mai 2010, pp.4243-4248 , N° 10074
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