Safe motion planning computation for databasing balanced movement of humanoid robots

Authors:
Sébastien Lengagne;Nacim Ramdani;Philippe Fraisse
Affiliations:
LIRMM UMR, CNRS Montpellier, France and INRIA Sophia Antipolis Méditerranée;LIRMM UMR, CNRS Montpellier, France and INRIA Sophia Antipolis Méditerranée;LIRMM UMR, CNRS Montpellier, France and University of Montpellier
Venue:
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Year:
2009

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Abstract

Motion databasing is an important topic in robotics research. Humanoid robots have a large number of degrees of freedom and their motions have to satisfy a set of constraints (balance, maximal joint torque velocity and angle values). Thus motion planning cannot efficiently be done online. The computation of optimal motions is performed off-line to create databases that transform the problem of large computation time into a problem of large memory space. 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 using a discretization over a prescribed grid. We show that this approach is risky because it can lead to motions which may 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 dedicated to the HOAP-3 humanoid robot.