A New Method for Generating Safe Motions for 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 : This paper introduces a new method for planning safe motions for complex systems such as humanoid robots. 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 by using a discretization over a prescribed grid. We show that this approach is risky because it can lead to motions which 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 for the HOAP-3 humanoid robot.
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Sebastien Lengagne, Nacim Ramdani, Philippe Fraisse. A New Method for Generating Safe Motions for Humanoid Robots. Humanoids, Dec 2008, Daejeon, South Korea. ⟨lirmm-00431299⟩

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