Optimal whole-body motion planning of humanoids in cluttered environments

2019 ◽  
Vol 118 ◽  
pp. 263-277
Author(s):  
Hari Teja K. ◽  
Abhilash Balachandran ◽  
S.V. Shah
Keyword(s):  
Motion Planning ◽  
Body Motion ◽  
Whole Body ◽  
Cluttered Environments

Whole-Body Motion Planning

2018 ◽  
pp. 1575-1599 ◽  
Author(s):  
Eiichi Yoshida ◽  
Fumio Kanehiro ◽  
Jean-Paul Laumond
Keyword(s):  
Motion Planning ◽  
Body Motion ◽  
Whole Body

scholarly journals Efficient Planning of Humanoid Motions by Modifying Constraints

2013 ◽  
Vol 4 (1) ◽  
Author(s):  
ChangHyun Sung ◽  
Takahiro Kagawa ◽  
Yoji Uno
Keyword(s):  
Motion Planning ◽  
Sufficient Conditions ◽  
Computation Time ◽  
Humanoid Robots ◽  
Body Motion ◽  
Whole Body ◽  
Planning Problem ◽  
Point Representation ◽  
Efficient Planning ◽  
Unpredictable Environment

AbstractIn this paper, we propose an effective planning method for whole-body motions of humanoid robots under various conditions for achieving the task. In motion planning, various constraints such as range of motion have to be considered. Specifically, it is important to maintain balance in whole-body motion. In order to be useful in an unpredictable environment, rapid planning is an essential problem. In this research, via-point representation is used for assigning sufficient conditions to deal with various constraints in the movement. The position, posture and velocity of the robot are constrained as a state of a via-point. In our algorithm, the feasible motions are planned by modifying via-points. Furthermore, we formulate the motion planning problem as a simple iterative method with a Linear Programming (LP) problem for efficiency of the motion planning. We have applied the method to generate the kicking motion of a HOAP-3 humanoid robot. We confirmed that the robot can successfully score a goal with various courses corresponding to changing conditions of the location of an obstacle. The computation time was less than two seconds. These results indicate that the proposed algorithm can achieve efficient motion planning.

Coordinated Motion Planning of Legged Mobile Manipulator for Tracking the Given End-Effector’s Trajectory

2019 ◽  
Author(s):  
Kondalarao Bhavanibhatla ◽  
Sulthan Suresh-Fazeela ◽  
Dilip Kumar Pratihar
Keyword(s):  
Motion Planning ◽  
Degrees Of Freedom ◽  
Robotic System ◽  
Simulation Software ◽  
Body Motion ◽  
Whole Body ◽  
Mobile Manipulator ◽  
Coordinated Motion ◽  
Multibody Dynamic ◽  
The Given

Abstract In this paper, a novel algorithm is presented to achieve the coordinated motion planning of a Legged Mobile Manipulator (LMM) for tracking the given end-effector’s trajectory. LMM robotic system can be obtained by mounting a manipulator on the top of a multi-legged platform for achieving the capabilities of both manipulation and mobility. To exploit the advantages of these capabilities, the manipulator should be able to accomplish the task, while the hexapod platform moves simultaneously. In the presented approach, the whole-body motion planning is achieved in two steps. In the first step, the robotic system is assumed to be a mobile manipulator, in which the manipulator has two additional translational degrees of freedom at the base. The redundancy of this robotic system is solved by treating it as an optimization problem. Then, in the second step, the omnidirectional motion of the legged platform is achieved with a combination of straight forward and crab motions. The proposed algorithm is tested through a numerical simulation in MATLAB and then, validated on a virtual model of the robot using multibody dynamic simulation software, MSC ADAMS. Multiple trajectories of the end-effector have been tested and the results show that the proposed algorithm accomplishes the given task successfully by providing a singularity-free whole-body motion.

scholarly journals Dynamic walking and whole-body motion planning for humanoid robots: an integrated approach

2013 ◽  
Vol 32 (9-10) ◽  
pp. 1089-1103 ◽  
Author(s):  
Sébastien Dalibard ◽  
Antonio El Khoury ◽  
Florent Lamiraux ◽  
Alireza Nakhaei ◽  
Michel Taïx ◽  
...  
Keyword(s):  
Motion Planning ◽  
Integrated Approach ◽  
Humanoid Robots ◽  
Body Motion ◽  
Whole Body ◽  
Dynamic Walking

scholarly journals Whole-Body Motion Planning for a Six-Legged Robot Walking on Rugged Terrain

2019 ◽  
Vol 9 (24) ◽  
pp. 5284 ◽  
Author(s):  
Jie Chen ◽  
Fan Gao ◽  
Chao Huang ◽  
Jie Zhao
Keyword(s):  
Motion Planning ◽  
Spline Interpolation ◽  
Stability Margin ◽  
Joint Space ◽  
Body Motion ◽  
Whole Body ◽  
Legged Robot ◽  
Rugged Terrain ◽  
The Stability ◽  
The Moment

Whole-body motion planning is a key ability for legged robots, which allows for the generation of terrain adaptive behaviors and thereby improved mobility in complex environment. To this end, this paper addresses the issue of terrain geometry based whole-body motion planning for a six-legged robot over a rugged terrain. The whole-body planning is decomposed into two sub-tasks: leg support and swing. For leg support planning, the target pose of the robot torso in a walking step is first found by maximizing the stability margin at the moment of support-swing transition and matching the orientation of the support polygon formed by target footholds. Then, the torso and thereby the leg support trajectories are generated using cubic spline interpolation and transferred into joint space through inverse kinematics. In terms of leg swing planning, the trajectories in a walking step are generated by solving an optimal problem that satisfies three constraints and a bioinspired objective function. The proposed whole-body motion planning strategies are implemented with a simulation and a real-world six-legged robot, and the results show that stable and collision-free motions can be produced for the robot over rugged terrains.

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