Safe Motion Planning Computation for Databasing Balanced Movement of Humanoid Robots

Sebastien Lengagne 1 Nacim Ramdani 2, 3 Philippe Fraisse 1
1 DEMAR - Artificial movement and gait restoration
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier, CRISAM - Inria Sophia Antipolis - Méditerranée
2 COPRIN - Constraints solving, optimization and robust interval analysis
CRISAM - Inria Sophia Antipolis - Méditerranée , ENPC - École des Ponts ParisTech
3 IDH - Interactive Digital Humans
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : Motion databasing is an important topic in robotics research. Humanoid robots have a large number of degrees of freedom and their motions have to satisfy a set of constraints (balance, maximal joint torque velocity and angle values). Thus motion planning cannot efficiently be done on-line. The computation of optimal motions is performed off-line to create databases that transform the problem of large computation time into a problem of large memory space. Motion planning can be seen as a Semi-Infinite Programming problem (SIP) since it involves a finite number of variables over an infinite set of constraints. Most methods solve the SIP problem by transforming it into a finite programming one using a discretization over a prescribed grid. We show that this approach is risky because it can lead to motions which may violate one or several constraints. Then we introduce our new method for planning safe motions. It uses Interval Analysis techniques in order to achieve a safe discretization of the constraints. We show how to implement this method and use it with state-of-the-art constrained optimization packages. Then, we illustrate its capabilities for planning safe motions dedicated to the HOAP-3 humanoid robot.
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Sebastien Lengagne, Nacim Ramdani, Philippe Fraisse. Safe Motion Planning Computation for Databasing Balanced Movement of Humanoid Robots. ICRA: International Conference on Robotics and Automation, May 2009, Kobe, Japan. pp.1669-1674, ⟨10.1109/ROBOT.2009.5152637⟩. ⟨lirmm-00385625⟩

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