Ferrari, Paolo and Cogneni, Marco and Oriolo, Giuseppe (2018) Anytime Whole-Body Planning/Replanning for Humanoid Robots. 2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids). pp. 1-9. ISSN 2164-0580

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Abstract

In this paper we propose an anytime plan-ning/replanning algorithm aimed at generating motions allowing a humanoid to fulfill an assigned task that implicitly requires stepping. The algorithm interleaves planning and execution intervals: a previously planned whole-body motion is executed while simultaneously planning a new solution for the subsequent execution interval. At each planning interval, a specifically designed randomized local planner builds a tree in configuration-time space by concatenating successions of CoM movement primitives. Such a planner works in two stages. A first lazy stage quickly expands the tree, testing only vertexes for collisions; then, a second validation stage searches the tree for feasible, collision-free whole-body motions realizing a solution to be executed during the next planning interval. We discuss how the proposed planner can avoid deadlock and we propose how it can be extended to a sensor-based planner. The proposed method has been implemented in V-REP for the NAO humanoid and successfully tested in various scenarios of increasing complexity.

Item Type:	Article
Keywords:	Anytime; Whole-Body; Planning; Replanning; Humanoid Robot;
Academic Unit:	Faculty of Science and Engineering > Electronic Engineering Faculty of Science and Engineering > Research Institutes > Hamilton Institute
Item ID:	15333
Identification Number:	https://doi.org/10.1109/HUMANOIDS.2018.8624935
Depositing User:	Marco Cognetti
Date Deposited:	24 Jan 2022 16:49
Journal or Publication Title:	2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)
Publisher:	IEEE
Refereed:	Yes
URI:	Publisher
Use Licence:	This item is available under a Creative Commons Attribution Non Commercial Share Alike Licence (CC BY-NC-SA). Details of this licence are available here

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