Cognetti, Marco and De Simone, Daniele and Lanari, Leonardo and Oriolo, Giuseppe (2016) Real-time planning and execution of evasive motions for a humanoid robot. 2016 IEEE International Conference on Robotics and Automation (ICRA). pp. 4200-4206.

Preview

Download (3MB) | Preview

Abstract

We present a method for performing evasive motions with a humanoid robot. In the considered scenario, the robot is standing in a workspace, when a moving obstacle (e.g., a human, or another robot) enters its safety area and heads towards it; the humanoid must plan and execute in real-time a maneuver that avoids the collision. The proposed method goes through several conceptual steps. Once the entrance of the moving obstacle in the safety area is detected, its approach direction relative to the robot is determined. On the basis of this information, a suitable evasion maneuver represented by footsteps is generated. From these, an appropriate trajectory is computed for the Center of Mass of the humanoid. Finally, joint motion commands are generated so as to track such trajectory. All computations make use of closed-form expressions and are therefore suitable for real-time implementation. The proposed approach is validated via simulations and experiments on a NAO humanoid. The possibility of adapting the basic method so as to be used in a replanning framework is also investigated.

Item Type:	Article
Keywords:	Real-time; planning; execution; evasive motions; humanoid robot;
Academic Unit:	Faculty of Science and Engineering > Electronic Engineering Faculty of Science and Engineering > Research Institutes > Hamilton Institute
Item ID:	15340
Identification Number:	https://doi.org/10.1109/ICRA.2016.7487614
Depositing User:	Marco Cognetti
Date Deposited:	25 Jan 2022 15:07
Journal or Publication Title:	2016 IEEE International Conference on Robotics and Automation (ICRA)
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

Repository Staff Only(login required)

Item control page

Downloads

Origin of downloads