Planning and Fast Re-Planning of Safe Motions for Humanoid Robots: Application to a Kicking Motion

Sebastien Lengagne 1 Nacim Ramdani 2, 3 Philippe Fraisse 3
1 DEMAR - Artificial movement and gait restoration
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier, CRISAM - Inria Sophia Antipolis - Méditerranée
3 IDH - Interactive Digital Humans
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : Optimal motions are usually used as joint reference trajectories for repetitive or complex motions. In the case of soccer robots, the kicking motion is usually a benchmark motion, computed off-line, without taking into account the current position of the robot or the direction of the goal. Moreover, robots must react quickly to any situation, even if not expected, and cannot spend time to generate a new optimal motion by the classical way. Therefore, we propose a new method for fast motion re-planning based on an off-line computation of a feasible sub-set of the motion parameters, using Interval Analysis.
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Communication dans un congrès
IROS'09: International Conference on Intelligent Robots and Systems, Oct 2009, St. Louis, MO, United States. IEEE/RSJ, pp.441-446, 2009, 〈http://www.iros09.mtu.edu/index.php/IROS_2009:_The_2009_IEEE/RSJ_International_Conference_on_Intelligent_RObots_and_Systems〉. 〈10.1109/IROS.2009.5354002〉
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Sebastien Lengagne, Nacim Ramdani, Philippe Fraisse. Planning and Fast Re-Planning of Safe Motions for Humanoid Robots: Application to a Kicking Motion. IROS'09: International Conference on Intelligent Robots and Systems, Oct 2009, St. Louis, MO, United States. IEEE/RSJ, pp.441-446, 2009, 〈http://www.iros09.mtu.edu/index.php/IROS_2009:_The_2009_IEEE/RSJ_International_Conference_on_Intelligent_RObots_and_Systems〉. 〈10.1109/IROS.2009.5354002〉. 〈lirmm-00433040〉

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