Planning and fast re-planning of safe motions for humanoid robots: Application to a kicking motion

Optimal motions are usually used as joint reference trajectories for repetitive or complex motions. In the case of soccer robots, the kicking motion is usually a benchmark motion, computed off-line, without taking into account the current position of the robot or the direction of the goal. Moreover, robots must react quickly to any situation, even if not expected, and cannot spend time to generate a new optimal motion by the classical way. Therefore, we propose a new method for fast motion re-planning based on an off-line computation of a feasible sub-set of the motion parameters, using Interval Analysis.

[1]  Edite M. G. P. Fernandes,et al.  Robot trajectory planning with semi-infinite programming , 2004, Eur. J. Oper. Res..

[2]  Wisama Khalil,et al.  Modeling, Identification and Control of Robots , 2003 .

[3]  Eiichi Yoshida,et al.  On humanoid motion optimization , 2007, 2007 7th IEEE-RAS International Conference on Humanoid Robots.

[4]  M. Kawato,et al.  Formation and control of optimal trajectory in human multijoint arm movement , 1989, Biological Cybernetics.

[5]  Eldon Hansen,et al.  Global optimization using interval analysis , 1992, Pure and applied mathematics.

[6]  Philippe Fraisse,et al.  A new method for generating safe motions for humanoid robots , 2008, Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots.

[7]  Ramon E. Moore,et al.  Methods and Applications of Interval Analysis (SIAM Studies in Applied and Numerical Mathematics) (Siam Studies in Applied Mathematics, 2.) , 1979 .

[8]  Aurelio Piazzi,et al.  Global minimum-jerk trajectory planning of robot manipulators , 2000, IEEE Trans. Ind. Electron..

[9]  Kenneth O. Kortanek,et al.  Semi-Infinite Programming: Theory, Methods, and Applications , 1993, SIAM Rev..

[10]  Denny Oetomo,et al.  Design Strategy of Serial Manipulators With Certified Constraint Satisfaction , 2009, IEEE Transactions on Robotics.

[11]  Philippe Fraisse,et al.  Safe motion planning computation for databasing balanced movement of humanoid robots , 2009, 2009 IEEE International Conference on Robotics and Automation.

[12]  Ramon E. Moore.  Methods and applications of interval analysis , 1979, SIAM studies in applied mathematics.

[13]  Sylvain Miossec,et al.  Continuous gradient proximity distance for humanoids free-collision optimized-postures , 2007, 2007 7th IEEE-RAS International Conference on Humanoid Robots.

[14]  Philippe Fraisse,et al.  Guaranteed computation of constraints for safe path planning , 2007, 2007 7th IEEE-RAS International Conference on Humanoid Robots.

[15]  Eiichi Yoshida,et al.  Humanoid motion planning for dynamic tasks , 2005, 5th IEEE-RAS International Conference on Humanoid Robots, 2005..

[16]  Kazuhito Yokoi,et al.  Development of a software for motion optimization of robots - Application to the kick motion of the HRP-2 robot , 2006, 2006 IEEE International Conference on Robotics and Biomimetics.

[17]  Oliver Brock,et al.  Real-time re-planning in high-dimensional configuration spaces using sets of homotopic paths , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[18]  Wisama Khalil,et al.  Modeling, Identification & Control of Robots , 2002 .

[19]  Florence Billet,et al.  The HuMAnS toolbox, a homogenous framework for motion capture, analysis and simulation , 2006 .

[20]  Sven Behnke,et al.  See, walk, and kick: Humanoid robots start to play soccer , 2006, 2006 6th IEEE-RAS International Conference on Humanoid Robots.

[21]  Enrico Pagello,et al.  The challenge of motion planning for humanoid robots playing soccer , 2006 .

[22]  M Vukobratović,et al.  Contribution to the synthesis of biped gait. , 1969, IEEE transactions on bio-medical engineering.

[23]  A. Piazzi,et al.  Global minimum-time trajectory planning of mechanical manipulators using interval analysis , 1998 .