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

Abstract

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.

Generation of dynamic motions under continuous constraints: Efficient computation using B-Splines and Taylor polynomials

“…where T = {t s ,t 1 , ...,t e } is the time-grid used for the discretization process; the constraints will be checked only for the discrete instants in T. As discussed in [1], [6], it is not easy to guess a time-grid discretization which guarantees that the constraint also holds in-between a pair of time-point of the grid. It is also difficult to compromise performance between having a reasonable sampling and constraint satisfaction of predefined single time constraints of type z.…”

“…To have an idea about the order of complexity, it took more than twenty hours to compute the motion planning of a humanoid robot of twelve degrees of freedom for a free kicking task [1]. Besides, neither the time-interval nor the time-grid discretization methods can deal efficiently with…”

“…Yet, there are many tasks where the robot is exploited to its extreme dynamics, capabilities and performances. Examples of which are ultra-precise operating motion in industries, or kicking motions [1], [2] for humanoid robots or fast motion with collision avoidance for manipulator robot [3] and lifting heavy objects [4]. These extreme tasks are impossible to achieve by state-of-the art planning and task-based closedloop control.…”

Generation of dynamic multi-contact motions: 2D case studies

“…a set of discrete instant). As discussed in [15], it is not easy to set a time-grid discretization which guarantees in any circumstances that the constraints holds in-between a pair of sample time. Recently, we presented in [4], the time-interval discretization based on Taylor polynomial approximation of the constraints, that make possible to take into account:…”

Optimizing Kick Trajectory: A Comparative Study

“…Other dynamic kick engines such as [13] developed a kick engine for the THOR-MANG from Robotis that generate static kick motions. Lengagneua et al [6] have developed a kick engine that incorporates optimization offline and a re-planning step when the kick is executed but do not optimize on the physical robot or use a simulation software that takes into account hardware properties of the robot.…”