Non-gaited humanoid locomotion planning

This paper presents a non-gaited motion planner for humanoid robots navigating very uneven and sloped terrain. The planner allows contact with any pre-designated part of the robot's body, since the use of hands or knees (in addition to feet) may be required to balance. It uses a probabilistic, sample-based approach to compute each step. One challenge of this approach is that most randomly sampled configurations do not satisfy all motion constraints (closed-chain, equilibrium, collision). To address this problem, a method of iterative constraint enforcement is presented that samples feasible configurations much more quickly. Example motions planned for the humanoid robot HRP-2 are shown in simulation

[1]  J. Chestnutt,et al.  Planning Biped Navigation Strategies in Complex Environments , 2003 .

[2]  Yu-Chi Chang,et al.  Finding Narrow Passages with Probabilistic Roadmaps: The Small-Step Retraction Method , 2005, 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[3]  Thierry Siméon,et al.  Eurographics/siggraph Symposium on Computer Animation (2003) Visual Simulation of Ice Crystal Growth , 2022 .

[4]  Markus H. Gross,et al.  Consistent penetration depth estimation for deformable collision response , 2004, VMV.

[5]  Jean-Claude Latombe,et al.  Autonomous agents for real-time animation , 1999 .

[6]  Lydia E. Kavraki,et al.  A probabilistic roadmap approach for systems with closed kinematic chains , 1999, Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C).

[7]  Tsai-Yen Li,et al.  Motion planning for humanoid walking in a layered environment , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).

[8]  B. Faverjon,et al.  Probabilistic Roadmaps for Path Planning in High-Dimensional Con(cid:12)guration Spaces , 1996 .

[9]  Daniel Vallejo,et al.  OBPRM: an obstacle-based PRM for 3D workspaces , 1998 .

[10]  Timothy Bretl,et al.  Toward Autonomous Free-Climbing Robots , 2005, ISRR.

[11]  S. Rock,et al.  Multi-step motion planning: application to free-climbing robots , 2005 .

[12]  Allison M. Okamura,et al.  An overview of dexterous manipulation , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[13]  Dinesh Manocha,et al.  OBBTree: a hierarchical structure for rapid interference detection , 1996, SIGGRAPH.

[14]  Thierry Siméon,et al.  A random loop generator for planning the motions of closed kinematic chains using PRM methods , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[15]  Masayuki Inaba,et al.  Motion Planning for Humanoid Robots , 2003, ISRR.

[16]  Jean-Claude Latombe,et al.  A Single-Query Bi-Directional Probabilistic Roadmap Planner with Lazy Collision Checking , 2001, ISRR.

[17]  Chih-Cheng Chen,et al.  A combined optimization method for solving the inverse kinematics problems of mechanical manipulators , 1991, IEEE Trans. Robotics Autom..

[18]  Timothy Bretl,et al.  Multi-Step Motion Planning for Free-Climbing Robots , 2004, WAFR.

[19]  Fumio Kanehiro,et al.  Humanoid robot HRP-2 , 2008, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.