Planning and fast re-planning of safe motions for humanoid robots: Application to a kicking motion

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,...

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Bibliographic Details
Published in2009 IEEE/RSJ International Conference on Intelligent Robots and Systems pp. 441 - 446
Main Authors Lengagne, S., Fraisse, P., Ramdani, N.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.10.2009
Subjects
Grid computing
Humanoid robots
Intelligent robots
Manipulators
Motion analysis
Motion planning
Spline
Torque
Trajectory
USA Councils
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ISBN9781424438037
1424438039
ISSN2153-0858
DOI10.1109/IROS.2009.5354002

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Summary: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.
ISBN:9781424438037
1424438039
ISSN:2153-0858
DOI:10.1109/IROS.2009.5354002