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.
Document type :
Conference papers
Complete list of metadatas

Cited literature [21 references]  Display  Hide  Download

https://hal-lirmm.ccsd.cnrs.fr/lirmm-00433040
Contributor : Sebastien Lengagne <>
Submitted on : Wednesday, November 18, 2009 - 7:38:31 AM
Last modification on : Tuesday, April 2, 2019 - 1:39:27 AM
Long-term archiving on : Thursday, June 17, 2010 - 6:50:26 PM

File

IROS2009.pdf
Files produced by the author(s)

Identifiers

Citation

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. pp.441-446, ⟨10.1109/IROS.2009.5354002⟩. ⟨lirmm-00433040⟩

Share

Metrics

Record views

378

Files downloads

490