Optimal motion planning for humanoid robots

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2013, Pages 3136-3141

  El Khoury, Antonio ^a   Lamiraux, Florent ^a   Taix, Michel ^a  

^a LAAS CNRS   (France)

Author keywords

[No Author keywords available]

Indexed keywords

ALGORITHMIC FOUNDATIONS; CLUTTERED ENVIRONMENTS; COLLISION-FREE TRAJECTORY; DISTANCE CONSTRAINTS; OPTIMAL CONTROL PROBLEM; OPTIMAL CONTROLS; OPTIMAL MOTION PLANNING; STATE OF THE ART;

ANTHROPOMORPHIC ROBOTS; OPTIMAL CONTROL SYSTEMS; OPTIMIZATION; ROBOTICS;

MOTION PLANNING;

EID: 84887263390     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICRA.2013.6631013     Document Type: Conference Paper

References (23)

1. J. Kuffner, J.J. and S. LaValle, "Rrt-connect: An efficient approach to single-query path planning," in Robotics and Automation, 2000. IEEE International Conference on.
2. S. Dalibard, A. Nakhaei, F. Lamiraux, and J.-P. Laumond, "Wholebody task planning for a humanoid robot: a way to integrate collision avoidance," in Humanoid Robots, 2009. IEEE International Conference.
3. D. Berenson, S. S. Srinivasa, D. Ferguson, and J. J. Kuffner, "Manipulation planning on constraint manifolds," in Robotics and Automation, 2009. ICRA '09. IEEE International Conference on.
4. M. Stilman, "Task constrained motion planning in robot joint space," in Intelligent Robots and Systems,2007. IEEE International Conference.
5. L. Biegler and V. Zavala, "Large-scale nonlinear programming using ipopt: An integrating framework for enterprise-wide dynamic optimization," Computers and Chemical Engineering, 2009.
6. D. B. Leineweber, I. Bauer, A. Schfer, H. G. Bock, and J. P. Schlder, "An efficient multiple shooting based reduced sqp strategy for large-scale dynamic process optimization." Computers and Chemical Engineering, 2003.
7. M. Kalakrishnan, S. Chitta, E. Theodorou, P. Pastor, and S. Schaal, "Stomp: Stochastic trajectory optimization for motion planning," in Robotics and Automation 2011, IEEE International Conference on.
8. G. Schultz and K. Mombaur, "Modeling and optimal control of humanlike running," Mechatronics, IEEE/ASME Transactions on, 2010.
9. M. Toussaint, M. Gienger, and C. Goerick, "Optimization of sequential attractor-based movement for compact behaviour generation," in Humanoid Robots, 2007 7th IEEE-RAS International Conference on, 2007.
10. S. Lengagne, P. Mathieu, A. Kheddar, and E. Yoshida, "Generation of dynamic motions under continuous constraints: Efficient computation using b-splines and taylor polynomials," in Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on.
11. E. Larsen, S. Gottschalk, M. Lin, and D. Manocha, "Fast distance queries with rectangular swept sphere volumes," in Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on.
12. Y. J. Kim, M. A. Otaduy, M. C. Lin, and D. Manocha, "Fast penetration depth computation for physically-based animation," in 2002 ACM SIGGRAPH/Eurographics symposium on Computer animation, 2002.
13. A. Escande, S. Miossec, and A. Kheddar, "Continuous gradient proximity distance for humanoids free-collision optimized-postures," in Humanoid Robots, 2007 7th IEEE-RAS International Conference on.
14. O. Stasse, A. Escande, N. Mansard, S. Miossec, P. Evrard, and A. Kheddar, "Real-time (self)-collision avoidance task on a hrp-2 humanoid robot," in Robotics and Automation, 2008. International Conference.
15. O. Kanoun, "Real-time prioritized kinematic control under inequality constraints for redundant manipulators," in Robotics: Science and Systems, 2011.
16. S. Karaman and E. Frazzoli, "Sampling-based algorithms for optimal motion planning," The International Journal of Robotics Research, 2011.
17. A. Perez, R. J. Platt, G. Konidaris, L. Kaelbling, and T. Lozano-Perez, "Lqr-rrt: Optimal sampling-based motion planning with automatically derived extension heuristics," in Robotics and Automation, 2012. IEEE International Conference on.
18. J.-P. Laumond, "Kineo cam: a success story of motion planning algorithms," Robotics Automation Magazine, IEEE, 2006.
19. T. Moulard, "Roboptim," https://github.com/laas/roboptim.
20. D. H. Eberly, "Wild magic," http://www.geometrictools.com/.
21. I. Sucan, "planning environment," http://www.ros.org/wiki/ planning environment.
22. M. Vukobratovic and B. Borovac, "Zero-moment pointthirty five years of its life," International Journal of Humanoid Robotics, 2004.
23. T. Flash and N. Hogans, "The coordination of arm movements: An experimentally confirmed mathematical model," Journal of neuroscience, 1985.