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    Real-time planning and execution of evasive motions for a humanoid robot


    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.

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    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:

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