Efficient Planning of Humanoid Motions by Modifying Constraints
In this paper, we propose an effective planning method for whole-body motions of humanoid robots under various conditions for achieving the task. In motion planning, various constraints such as range of motion have to be considered. Specifically, it is important to maintain balance in whole-body mot...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
De Gruyter
2013-09-01
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| Series: | Paladyn |
| Subjects: | |
| Online Access: | https://doi.org/10.2478/pjbr-2013-0002 |
| _version_ | 1797427238487982080 |
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| author | Sung ChangHyun Kagawa Takahiro Uno Yoji |
| author_facet | Sung ChangHyun Kagawa Takahiro Uno Yoji |
| author_sort | Sung ChangHyun |
| collection | DOAJ |
| description | In this paper, we propose an effective planning method for whole-body motions of humanoid robots under various conditions for achieving the task. In motion planning, various constraints such as range of motion have to be considered. Specifically, it is important to maintain balance in whole-body motion. In order to be useful in an unpredictable environment, rapid planning is an essential problem. In this research, via-point representation is used for assigning sufficient conditions to deal with various constraints in the movement. The position, posture and velocity of the robot are constrained as a state of a via-point. In our algorithm, the feasible motions are planned by modifying via-points. Furthermore, we formulate the motion planning problem as a simple iterative method with a Linear Programming (LP) problem for efficiency of the motion planning. We have applied the method to generate the kicking motion of a HOAP-3 humanoid robot. We confirmed that the robot can successfully score a goal with various courses corresponding to changing conditions of the location of an obstacle. The computation time was less than two seconds. These results indicate that the proposed algorithm can achieve efficient motion planning. |
| first_indexed | 2024-03-09T08:42:22Z |
| format | Article |
| id | doaj.art-e6d367f6458c4c16838a1b1eab98db61 |
| institution | Directory Open Access Journal |
| issn | 2081-4836 |
| language | English |
| last_indexed | 2024-03-09T08:42:22Z |
| publishDate | 2013-09-01 |
| publisher | De Gruyter |
| record_format | Article |
| series | Paladyn |
| spelling | doaj.art-e6d367f6458c4c16838a1b1eab98db612023-12-02T16:42:21ZengDe GruyterPaladyn2081-48362013-09-0141233310.2478/pjbr-2013-0002Efficient Planning of Humanoid Motions by Modifying ConstraintsSung ChangHyun0Kagawa Takahiro1Uno Yoji2Department of Mechanical Science and Engineering, Graduate School of Engineering, Nagoya University Furo-cho Chikusa-ku, Nagoya 464-8603, JapanDepartment of Mechanical Science and Engineering, Graduate School of Engineering, Nagoya University Furo-cho Chikusa-ku, Nagoya 464-8603, JapanDepartment of Mechanical Science and Engineering, Graduate School of Engineering, Nagoya University Furo-cho Chikusa-ku, Nagoya 464-8603, JapanIn this paper, we propose an effective planning method for whole-body motions of humanoid robots under various conditions for achieving the task. In motion planning, various constraints such as range of motion have to be considered. Specifically, it is important to maintain balance in whole-body motion. In order to be useful in an unpredictable environment, rapid planning is an essential problem. In this research, via-point representation is used for assigning sufficient conditions to deal with various constraints in the movement. The position, posture and velocity of the robot are constrained as a state of a via-point. In our algorithm, the feasible motions are planned by modifying via-points. Furthermore, we formulate the motion planning problem as a simple iterative method with a Linear Programming (LP) problem for efficiency of the motion planning. We have applied the method to generate the kicking motion of a HOAP-3 humanoid robot. We confirmed that the robot can successfully score a goal with various courses corresponding to changing conditions of the location of an obstacle. The computation time was less than two seconds. These results indicate that the proposed algorithm can achieve efficient motion planning.https://doi.org/10.2478/pjbr-2013-0002humanoid robotmotion planningmodifying via-point |
| spellingShingle | Sung ChangHyun Kagawa Takahiro Uno Yoji Efficient Planning of Humanoid Motions by Modifying Constraints Paladyn humanoid robot motion planning modifying via-point |
| title | Efficient Planning of Humanoid Motions by Modifying Constraints |
| title_full | Efficient Planning of Humanoid Motions by Modifying Constraints |
| title_fullStr | Efficient Planning of Humanoid Motions by Modifying Constraints |
| title_full_unstemmed | Efficient Planning of Humanoid Motions by Modifying Constraints |
| title_short | Efficient Planning of Humanoid Motions by Modifying Constraints |
| title_sort | efficient planning of humanoid motions by modifying constraints |
| topic | humanoid robot motion planning modifying via-point |
| url | https://doi.org/10.2478/pjbr-2013-0002 |
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