Safe motion planning computation for databasing balanced movement of Humanoid Robots

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2009, Pages 1669-1674

  Lengagne, Sébastien ^a,b   Ramdani, Nacim ^a,b   Fraisse, Philippe ^a,c  

^a LIRMM   (France)

^b INRIA   (France)

^c UNIV MONTPELLIER   (France)

Author keywords

Constraints; Discretization; Interval analysis; Motion planning; Semi infinite programming

Indexed keywords

COMPUTATION TIME; CONSTRAINTS; DISCRETIZATION; DISCRETIZATIONS; FINITE NUMBER; HUMANOID ROBOT; INTERVAL ANALYSIS; INTERVAL ANALYSIS TECHNIQUES; JOINT TORQUES; MEMORY SPACE; NUMBER OF DEGREES OF FREEDOM; OFFLINE; OPTIMAL MOTION; ROBOTICS RESEARCH; SEMI INFINITE PROGRAMMING;

ANTHROPOMORPHIC ROBOTS; CONSTRAINED OPTIMIZATION; INTERNET PROTOCOLS; MOTION PLANNING; NAVIGATION; ROBOTICS;

ROBOT PROGRAMMING;

EID: 70350389371     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2009.5152637     Document Type: Conference Paper

References (31)

1. J. J. J. Kuffner, K. Nishiwaki., S. Kagami., M. Inaba, and H. Inoue, "Footstep planning among obstacles for biped robots, " in Intelligent Robots and Systems, 2001. Proceedings. 2001 IEEE/RSJ International Conference on, vol. 1, Maui, HI, USA, 2001, pp. 500-505.
2. J. Kuffner, K. Nihiwaki, S. Kagami, M. Inaba, and H. Inoue, "Motion planning for humanoid robots." in 20th Int'l Symp. Robotics Research (ISRR'03), 2003.
3. Z. Xia, Y. He, and K. Chen, "Modeling and motion planning of the infant-size humanoid robot thbip-ii, " in IEEE-RAS 7th International Conference on Humanoid Robots, 2007.
4. S. M. LaValle and J. J. Kuffner, "Rapidly-exploring random trees: Progress and prospects, " in 4th Int'l Workshop on the Algorithmic Foundations of Robotics, 2000.
5. E. Yoshida, I. Belousov, C. Esteves, and J.-P. Laumond, "Humanoid motion planning for dynamic tasks, " in Humanoid Robots, 2005 5th IEEE-RAS International Conference on, Dec. 2005, pp. 1-6.
6. S. Miossec, K. Yokoi, and A. Kheddar, "Development of a software for motion optimization of robots - application to the kick motion of the hrp-2 robot, " in Proceedings of the 2006 IEEE International Conference on Robotics and Biomimetics, 2006, pp. 299-304.
7. A. Piazzi and A. Visioli, "Global minimum-jerk trajectory planning of robot manipulators, " in IEEE Transactions on Industrial Electronics, vol. 47, febru 2000, pp. 140-149.
8. W. Suleiman, E. Yoshida, J.-P. Laumond, and A. Monink, "On humanoid motion optimization, " in IEEE-RAS 7th International Conference on Humanoid Robots, 2007.
9. R. E. Moore and F. Bierbaum, Methods and Applications of Interval Analysis (SIAM Studies in Applied and Numerical Mathematics) (Siam Studies in Applied Mathematics, 2.). Soc for Industrial & Applied Math, 1979.
10. H. Fang and J. P. Merlet, "Dynamic interference avoidance of 2-DOF robot arms using interval analysis, " in Intelligent Robots and Systems, 2005. (IROS 2005). 2005 IEEE/RSJ International Conference on, Aug. 2005, pp. 3809-3814.
11. L. Jaulin, "path planning using intervals and graphs, " Reliable Computing, vol. 7, no. 1, pp. 1-15, fevrier 2001.
12. S. Lengagne, N. Ramdani, and P. Fraisse, "Guaranteed computation of constraints for safe path planning, " in IEEE-RAS 7th International Conference on Humanoid Robots, 2007.
13. -, "A new method for generating safe motions for humanoid robots, " in submitted to EEE-RAS International Conference on Humanoid Robots, 2008.
14. W. Khalil and E. Dombre, Modeling, Identification & Control of Robots, 3rd ed., E. B. Heinemann, Ed. Hermes Sciences Europe, march 2002.
15. W. Suleiman, E. Yoshida., J.-P. Laumond., and A. A. Monin, "Optimizing humanoid motions using recursive dynamics and lie groups, " in Information and Communication Technologies: From Theory to Applications, 2008. ICTTA 2008. 3rd International Conference on, Damascus, Apr. 2008, pp. 1-6.
16. S.-H. Lee, J. Kim, F. Park, M. Kim, and J. E. Bobrow, "Newtomtype algorithms for dynamics-based robot movement optimization, " in IEEE Transactions on robotics, vol. 21, 2005, pp. 657- 667.
17. M. Vukobratovic and D. Juricic, "Contribution to the synthesis of biped gait, " IEEE trans. Bio-Med Eng., vol. BME-16, pp. 1-6, 1969.
18. A. I. F. Vaz, E. M. Fernandes, and M. P. S. Gomes, "Robot trajectory planning with semi-infinite programming, " European Journal of Operational Research., vol. 153, no. 3, pp. 607-617, 2004.
19. R. Hettich and K. O. Kortanek, "Semi-infinite programming: theory, methods, and applications, " SIAM Rev., vol. 35, no. 3, pp. 380-429, 1993.
20. A. Piazzi and A. Visioli, "Global minimum-time trajectory planning of mechanical manipulators using interval analysis, " International Journal of Control, vol. 71, pp. 631-652(22), 10 November 1998.
21. Y. Uno, M. Kawato, and R. Suzuki, "Formation and control of optimal trajectory in human multijoint arm movement, " Biological Cybernetics, vol. 6, no. 2, pp. 89-101, juin 1989.
22. Introduction to IPOPT: a tutorial for downloading, installing and using IPOPT, april 7th 2006.
23. O. von Stryk, "Numerical solution of optimal control problems by direct collocation, " 1993.
24. R. Reemtsen, "Semi-infinite programming: discretization methods, " 1998.
25. O. von Stryk and R. Bulirsch, "Direct and indirect methods for trajectory optimization, " Ann. Oper. Res., vol. 37, no. 1-4, pp. 357- 373, 1992.
26. T. Sunaga, "Theory of interval algebra and its application to numerical analysis, " RAAG Memoirs, Ggujutsu Bunken Fukuy-kai, vol. 2, pp. 547-564, 1958.
27. A. Neumaier, Interval methods for systems of equations. Cambridge: Cambridge university press, 1990.
28. L. Jaulin and Éric Walter, "Guaranteed tuning, with application to robust control and motion planning, " Automatica, vol. 32, no. 9, pp. 1217-1221, 1996.
29. L. Kolev and D. Penev, "An interval method for global inequality constraint optimization problems, " in Circuits and Systems, 2000. Proceedings. ISCAS 2000 Geneva. The 2000 IEEE International Symposium on, vol. 4, MAY 2000, pp. 617-620.
30. E. Hansen and G. Walster, Global optimization using interval analysis, 2nd ed. Marcel Dekker, 2004.
31. C. Bendtsen and O. Stauning, FADBAD, a flexible c++ package for automatic differentation.