Motion Planning For Humanoid Robots
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Motion Planning For Humanoid Robots
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Author : Kensuke Harada
language : en
Publisher: Springer Science & Business Media
Release Date : 2010-08-12
Motion Planning For Humanoid Robots written by Kensuke Harada and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2010-08-12 with Technology & Engineering categories.
Research on humanoid robots has been mostly with the aim of developing robots that can replace humans in the performance of certain tasks. Motion planning for these robots can be quite difficult, due to their complex kinematics, dynamics and environment. It is consequently one of the key research topics in humanoid robotics research and the last few years have witnessed considerable progress in the field. Motion Planning for Humanoid Robots surveys the remarkable recent advancement in both the theoretical and the practical aspects of humanoid motion planning. Various motion planning frameworks are presented in Motion Planning for Humanoid Robots, including one for skill coordination and learning, and one for manipulating and grasping tasks. The problem of planning sequences of contacts that support acyclic motion in a highly constrained environment is addressed and a motion planner that enables a humanoid robot to push an object to a desired location on a cluttered table is described. The main areas of interest include: • whole body motion planning, • task planning, • biped gait planning, and • sensor feedback for motion planning. Torque-level control of multi-contact behavior, autonomous manipulation of moving obstacles, and movement control and planning architecture are also covered. Motion Planning for Humanoid Robots will help readers to understand the current research on humanoid motion planning. It is written for industrial engineers, advanced undergraduate and postgraduate students.
Motion And Operation Planning Of Robotic Systems
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Author : Giuseppe Carbone
language : en
Publisher: Springer
Release Date : 2015-03-12
Motion And Operation Planning Of Robotic Systems written by Giuseppe Carbone and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2015-03-12 with Technology & Engineering categories.
This book addresses the broad multi-disciplinary topic of robotics, and presents the basic techniques for motion and operation planning in robotics systems. Gathering contributions from experts in diverse and wide ranging fields, it offers an overview of the most recent and cutting-edge practical applications of these methodologies. It covers both theoretical and practical approaches, and elucidates the transition from theory to implementation. An extensive analysis is provided, including humanoids, manipulators, aerial robots and ground mobile robots. ‘Motion and Operation Planning of Robotic Systems’ addresses the following topics: *The theoretical background of robotics. *Application of motion planning techniques to manipulators, such as serial and parallel manipulators. *Mobile robots planning, including robotic applications related to aerial robots, large scale robots and traditional wheeled robots. *Motion planning for humanoid robots. An invaluable reference text for graduate students and researchers in robotics, this book is also intended for researchers studying robotics control design, user interfaces, modelling, simulation, sensors, humanoid robotics.
Motion Planning For Legged And Humanoid Robots
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Author : Kris Hauser
language : en
Publisher:
Release Date : 2008
Motion Planning For Legged And Humanoid Robots written by Kris Hauser and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2008 with categories.
Motion Planning And Perception
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Author : Alireza Nakhaei
language : en
Publisher:
Release Date : 2009
Motion Planning And Perception written by Alireza Nakhaei and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2009 with categories.
This thesis starts by proposing a new framework for motion planning using stochastic maps, such as occupancy-grid maps. In autonomous robotics applications, the robot's map of the environment is typically constructed online, using techniques from SLAM. These methods can construct a dense map of the environment, or a sparse map that contains a set of identifiable landmarks. In this situation, path planning would be performed using the dense map, and the path would be executed in a sensor-based fashion, using feedback control to track the reference path based on sensor information regarding landmark position. Maximum-likelihood estimation techniques are used to model the sensing process as well as to estimate the most likely nominal path that will be followed by the robot during execution of the plan. The proposed approach is potentially a practical way to plan under the specific sorts of uncertainty confronted by a humanoid robot. The next chapter, presents methods for constructing free paths in dynamic environments. The chapter begins with a comprehensive review of past methods, ranging from modifying sampling-based methods for the dynamic obstacle problem, to methods that were specifically designed for this problem. The thesis proposes to adapt a method reported originally by Leven et al.. so that it can be used to plan paths for humanoid robots in dynamic environments. The basic idea of this method is to construct a mapping from voxels in a discretized representation of the workspace to vertices and arcs in a configuration space network built using sampling-based planning methods. When an obstacle intersects a voxel in the workspace, the corresponding nodes and arcs in the configuration space roadmap are marked as invalid. The part of the network that remains comprises the set of valid candidate paths. The specific approach described here extends previous work by imposing a two-level hierarchical structure on the representation of the workspace. The methods described in Chapters 2 and 3 essentially deal with low-dimensional problems (e.g., moving a bounding box). The reduction in dimensionality is essential, since the path planning problem confronted in these chapters is complicated by uncertainty and dynamic obstacles, respectively. Chapter 4 addresses the problem of planning the full motion of a humanoid robot (whole-body task planning). The approach presented here is essentially a four-step approach. First, multiple viable goal configurations are generated using a local task solver, and these are used in a classical path planning approach with one initial condition and multiple goals. This classical problem is solved using an RRT-based method. Once a path is found, optimization methods are applied to the goal posture. Finally, classic path optimization algorithms are applied to the solution path and posture optimization. The fifth chapter describes algorithms for building a representation of the environment using stereo vision as the sensing modality. Such algorithms are necessary components of the autonomous system proposed in the first chapter of the thesis. A simple occupancy-grid based method is proposed, in which each voxel in the grid is assigned a number indicating the probability that it is occupied. The representation is updated during execution based on values received from the sensing system. The sensor model used is a simple Gaussian observation model in which measured distance is assumed to be true distance plus additive Gaussian noise. Sequential Bayes updating is then used to incrementally update occupancy values as new measurements are received. Finally, chapter 6 provides some details about the overall system architecture, and in particular, about those components of the architecture that have been taken from existing software (and therefore, do not themselves represent contributions of the thesis). Several software systems are described, including GIK, WorldModelGrid3D, HppDynamicObstacle, and GenoM.
Motion Planning For Legged And Humanoid Robots
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Author : Kris Hauser (College teacher)
language : en
Publisher:
Release Date : 2008
Motion Planning For Legged And Humanoid Robots written by Kris Hauser (College teacher) and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2008 with categories.
Time Efficient Hybrid Motion Planning Algorithm For Hoap 2 Humanoid Robot
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Author : Mohammed M. Elmogy
language : en
Publisher:
Release Date : 2015
Time Efficient Hybrid Motion Planning Algorithm For Hoap 2 Humanoid Robot written by Mohammed M. Elmogy and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2015 with categories.
The development of practical motion planning algorithms and obstacle avoidance techniques is considered as one of the most important fields of study in the task of building autonomous or semiautonomous robot systems. The motion planners designed for humanoid robots combine both path planning generation and the ability of executing the resulting path with respect to their characteristics. These planners should consider the specific dynamical constraints and stability problems of the humanoid robots. In this paper, we present a time-efficient hybrid motion planning system for a Fujitsu HOAP-2 humanoid robot in indoor and miniature city environments. The proposed technique is a combination of sampling-based planner and D* Lite search to generate dynamic footstep placements in unknown environments. It generates the search space depending on non-uniform sampling of the free configuration space to direct the computational resources to troubled and difficult regions. D* Lite search is then implemented to find dynamic and low-cost footstep placements within the resulting configuration space. The proposed hybrid algorithm reduces the searching time and produces a smoother path for the humanoid robot with low cost.
Integrating Perception And Planning For Humanoid Autonomy
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Author : Philipp Michel
language : en
Publisher:
Release Date : 2008
Integrating Perception And Planning For Humanoid Autonomy written by Philipp Michel and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2008 with Automatic tracking categories.
Abstract: "Today's agile humanoid robots are testament to the impressive advances in the design of biped mechanisms and control in recent robotics history. The big challenge, however, remains to properly exploit the generality and flexibility of humanoid platforms during fully autonomous operation in obstacle-filled and dynamically changing environments. Increasing effort has thus been focused on the challenges arising for perception and motion planning, as well as the interplay between both, as foundations of humanoid autonomy. This thesis explores appropriate approaches to perception on humanoids and ways of coupling sensing and planning to generate navigation and manipulation strategies that can be executed reliably. We investigate perception methods employing on- and off-body sensors that are combined with an efficient motion planner to allow the humanoid robot HRP-2 and Honda's ASIMO to traverse complex and unpredictably changing environments. We examine how predictive information about the future state of the world gathered from observation enables navigation in the presence of challenging moving obstacles. We show how programmable graphics hardware can be exploited to create a novel, model-based 3D tracking system able to robustly address the difficulties of real-time sensing specifically encountered on a locomoting humanoid. This thesis argues furthermore that reliability of autonomous operation can be improved by reasoning about perception during the planning process, rather than maintaining the traditional separation of the sensing and planning stages. We use the humanoid robots ARMAR-III and HRP-2 to investigate and validate such planning for perceptive capability in manipulation and navigation scenarios. While humanoid robots serve as the motivating challenge and application domain for this thesis, much of the resulting work is general in nature and has applications in other areas of robotics and computer vision."
Online Motion Planning For Hoap 2 Humanoid Robot Navigation
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Author : Mohammed M. Elmogy
language : en
Publisher:
Release Date : 2015
Online Motion Planning For Hoap 2 Humanoid Robot Navigation written by Mohammed M. Elmogy and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2015 with categories.
Autonomous robot navigation is becoming an increasingly important research topic for mobile robots. In the last few years, significant progress has been made towards stable robotic bipedal walking. This is creating an increased research interest in developing autonomous navigation strategies which are tailored specifically to humanoid robots. Efficient approaches to perception and motion planning, which are suited to the unique characteristics of biped humanoid robots and their typical operating environments, are receiving special interest. In this paper, we present a time-efficient motion planning system for a Fujitsu HOAP-2 humanoid robot. The sampling based algorithm is used to provide the robot with minimal free configuration space which is sampled to extract the robot path. For collision detection, a cylinder model is used to approximate the trajectory for the body center of the humanoid robot during navigation. It calculates the actual distances required to execute different actions of the robot and compares them with the distances to the nearest obstacles. The A* search algorithm is then implemented to find smooth and low-cost footstep placements of the humanoid robot within the resulting configuration space. The proposed hybrid algorithm reduces searching time and produces a smoother path for the humanoid robot at a low cost.
Motion Planning
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Author : Claudia Elvira Esteves Jaramillo
language : en
Publisher:
Release Date : 2007
Motion Planning written by Claudia Elvira Esteves Jaramillo and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2007 with categories.
The goal of this thesis is to develop motion planning algorithms for human-like figures that take into account the geometry, kinematics and dynamics of the mechanism and its environment. We propose a three-stage strategy to solve the problem of generating motions for human-like figures that manipulate bulky objets while walking. In the process, several interesting problems and their solutions are brought into focus. These problems are, 3D collision-avoidance, two-hand object manipulation, cooperative manipulation among several characters or robots and the combination of different behaviors. Our main contribution is the modeling of the automatic generation of cooperative manipulation motions. This model considers the above difficulties, all in the context of bipedal walking mechanisms. The motion planner, connected to different controllers, is used and tested in different mechanisms, both virtual and physical.
Robot Motion Planning
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Author : Jean-Claude Latombe
language : en
Publisher: Springer Science & Business Media
Release Date : 2012-12-06
Robot Motion Planning written by Jean-Claude Latombe and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2012-12-06 with Technology & Engineering categories.
One of the ultimate goals in Robotics is to create autonomous robots. Such robots will accept high-level descriptions of tasks and will execute them without further human intervention. The input descriptions will specify what the user wants done rather than how to do it. The robots will be any kind of versatile mechanical device equipped with actuators and sensors under the control of a computing system. Making progress toward autonomous robots is of major practical inter est in a wide variety of application domains including manufacturing, construction, waste management, space exploration, undersea work, as sistance for the disabled, and medical surgery. It is also of great technical interest, especially for Computer Science, because it raises challenging and rich computational issues from which new concepts of broad useful ness are likely to emerge. Developing the technologies necessary for autonomous robots is a formidable undertaking with deep interweaved ramifications in auto mated reasoning, perception and control. It raises many important prob lems. One of them - motion planning - is the central theme of this book. It can be loosely stated as follows: How can a robot decide what motions to perform in order to achieve goal arrangements of physical objects? This capability is eminently necessary since, by definition, a robot accomplishes tasks by moving in the real world. The minimum one would expect from an autonomous robot is the ability to plan its x Preface own motions.