Open source integrated 3D footstep planning framework for humanoid robots

2016 ◽  
Author(s):  
Alexander Stumpf ◽  
Stefan Kohlbrecher ◽  
David C. Conner ◽  
Oskar von Stryk
Keyword(s):  
Open Source ◽  
Humanoid Robots ◽  
Planning Framework

scholarly journals Transportable open-source application program interface and user interface for generic humanoids: TOUGH

2020 ◽  
Vol 17 (3) ◽  
pp. 172988142092160
Author(s):  
Vinayak Jagtap ◽  
Shlok Agarwal ◽  
Ameya Wagh ◽  
Michael Gennert
Keyword(s):  
User Interface ◽  
Open Source ◽  
Humanoid Robots ◽  
Application Program Interface ◽  
Sensors And Actuators ◽  
Seamless Integration ◽  
Application Program ◽  
Diverse Field ◽  
High Level ◽  
Program Interface

Humanoid robotics is a complex and highly diverse field. Humanoid robots may have dozens of sensors and actuators that together realize complicated behaviors. Adding to the complexity is that each type of humanoid has unique application program interfaces, thus software written for one humanoid does not easily transport to others. This article introduces the transportable open-source application program interface and user interface for generic humanoids, a set of application program interfaces that simplifies the programming and operation of diverse humanoid robots. These application program interfaces allow for quick implementation of complex tasks and high-level controllers. Transportable open-source application program interface and user interface for generic humanoids has been developed for, and tested on, Boston Dynamics’ Atlas V5 and NASA’s Valkyrie R5 robots. It has proved successful for experiments on both robots in simulation and hardware, demonstrating the seamless integration of manipulation, perception, and task planning. To encourage the rapid adoption of transportable open-source application program interface and user interface for generic humanoids for education and research, the software is available as Docker images, which enable quick setup of multiuser simulation environments.

scholarly journals Coupling SUMO with a Motion Planning Framework for Automated Vehicles

10.29007/1p2d ◽  
2019 ◽  
Author(s):  
Moritz Klischat ◽  
Octav Dragoi ◽  
Mostafa Eissa ◽  
Matthias Althoff
Keyword(s):  
Motion Planning ◽  
Open Source ◽  
Dynamic Behavior ◽  
Real World ◽  
Software Framework ◽  
Automated Vehicles ◽  
Lane Changing ◽  
Realistic Simulation ◽  
Lateral Dynamics ◽  
Planning Framework

Testing motion planning algorithms for automated vehicles in realistic simulation environments accelerates their development compared to performing real-world test drives only. In this work, we combine the open-source microscopic traffic simulator SUMO with our software framework CommonRoad to test motion planning of automated vehicles. Since SUMO is not originally designed for simulating automated vehicles, we present an inter- face for exchanging the trajectories of vehicles controlled by a motion planner and the trajectories of other traffic participants between SUMO and CommonRoad. Furthermore, we ensure realistic dynamic behavior of other traffic participants by extending the lane changing model in SUMO to implement more realistic lateral dynamics. We demonstrate our SUMO interface with a highway scenario.

Footstep adaptation strategy for reactive omnidirectional walking in humanoid robots

Robotica ◽  
2017 ◽  
Vol 36 (1) ◽  
pp. 57-77 ◽  
Author(s):  
Jiwen Zhang ◽  
Zeyang Xia ◽  
Li Liu ◽  
Ken Chen
Keyword(s):  
Optimization Problem ◽  
Center Of Mass ◽  
Humanoid Robots ◽  
Adaptation Strategy ◽  
Vehicle Model ◽  
Risk Of Falling ◽  
Response Quality ◽  
Foot Placement ◽  
Planning Framework ◽  
Simulation Based

SUMMARYStability, high response quality and rapidity are required for reactive omnidirectional walking in humanoids. Early schemes focused on generating gaits for predefined footstep locations and suffered from the risk of falling over because they lacked the ability to suitably adapt foot placement. Later methods combining stride adaptation and center of mass (COM) trajectory modification experienced difficulties related to increasing computing loads and an unwanted bias from the desired commands. In this paper, a hierarchical planning framework is proposed in which the footstep adaption task is separated from that of COM trajectory generation. A novel omnidirectional vehicle model and the inequalities deduced therefrom are adopted to describe the inter-pace connection relationship. A constrained nonlinear optimization problem is formulated and solved based on these inequalities to generate the optimal strides. A black-box optimization problem is then constructed and solved to determine the model constants using a surrogate-model-based approach. A simulation-based verification of the method and its implementation on a physical robot with a strictly limited computing capacity are reported. The proposed method is found to offer improved response quality while maintaining rapidity and stability, to reduce the online computing load required for reactive walking and to eliminate unnecessary bias from walking intentions.

Footstep Planning for Rapid Path Following in Humanoid Robots

2016 ◽  
Vol 13 (04) ◽  
pp. 1650013 ◽  
Author(s):  
Zhang Jiwen ◽  
Liu Li ◽  
Chen Ken
Keyword(s):  
Constraint Satisfaction Problem ◽  
Path Following ◽  
Humanoid Robots ◽  
Step Frequency ◽  
Moving Vehicle ◽  
Planning Framework ◽  
Backtrack Search ◽  
Motion Speed ◽  
Real Robot ◽  
Dynamics Simulations

Rapid path following is an important component of a layered planning framework to improve motion speed. A method of generating a bipedal footstep sequence that follows a designated path and maintains stability in a planar environment is proposed in this paper. It adopts a walking style with a fixed step frequency and adjusts consecutive strides by eliminating irrational stride changes. An omnidirectional moving vehicle model and the deduced inequalities are introduced to theoretically describe the inter-pace constraints. A modified backtrack search is then implemented to solve the resulting constraint satisfaction problem. Both dynamics simulations and real robot experiments show that a humanoid robot is capable of tracking various paths with rapid paces. Comparison with several alternatives verifies the superiority of this novel method in terms of rapidity.

Designing adaptive humanoid robots through the FARSA open-source framework

2014 ◽  
Vol 22 (4) ◽  
pp. 255-265 ◽  
Author(s):  
Gianluca Massera ◽  
Tomassino Ferrauto ◽  
Onofrio Gigliotta ◽  
Stefano Nolfi
Keyword(s):  
Open Source ◽  
Humanoid Robots ◽  
Open Source Framework
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