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    Anytime Whole-Body Planning/Replanning for Humanoid Robots


    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:

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