Combining Key Frame Based Motion Design with Controlled Movement Execution

Abstract

This article presents a novel approach for motion pattern generation for humanoid robots combining the intuitive specification via key frames and the robustness of a ZMP stability controller. Especially the execution of motions interacting with the robot's environment tends to result in very different stability behavior depending on the exact moment, position and force of interaction, thus providing problems for the classical replay of prerecorded motions. The proposed method is applied to several test cases including the design of kicking motions for humanoid soccer robots and evaluated in real world experiments which clearly show the benefit of the approach.

B-Human 2011 – Eliminating Game Delays

“…Kicking implementations are in many cases based on static sequences of key frames. However, in recent years, some teams introduced dynamic kicking motions, such as HTWK [17], NaoDevils [2], and B-Human [13]. An approach for combining walking and kicking is presented in Sect.…”

Optimization of parametrised kicking motion for humanoid soccer player

“…The easiest way to design kicking movements consists of defining fixed keyframes using interpolations techniques (SPL team B-Human [1], SPL team HTWK [2]). Instead of conducting the interpolation inside the joint space, the trajectories can be determined inside the Cartesian space (SPL team Nao Devils [3]), which enables flexibility in the design.…”

Autonomous animation of humanoid robots

“…In the case of relative stability of sequences, we want to select the most stable sequence for the same reason. Research are concentrated on ensuring the stability of a humanoid robot with online monitoring methods to predict falls by thresholding relevant physical quantities (e.g., angular momenta [Kajita et al, 2003]) or determine stability by tracking the position of the zero moment point (ZMP) [Czarnetzki et al, 2010]. Others analytically model the robot's dynamics to determine if a fall will occur [Kuffner et al, 2003, Borovac et al, 2011.…”