Planning and Fast Re-Planning of Safe Motions for Humanoid Robots: Application to a Kicking Motion - LIRMM - Laboratoire d’Informatique, de Robotique et de Microélectronique de Montpellier Access content directly
Conference Papers Year : 2009

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

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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Dates and versions

lirmm-00433040 , version 1 (18-11-2009)

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