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Free Content An Optimal Control-Based Formulation to Determine Natural Locomotor Paths for Humanoid Robots

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Abstract:

In this paper we explore the underlying principles of natural locomotion path generation of human beings. The knowledge of these principles is useful to implement biologically inspired path planning algorithms on a humanoid robot. By 'locomotion path' we denote the motion of the robot as a whole in the plane. The key to our approach is to formulate the path planning problem as an optimal control problem. We propose a single dynamic model valid for all situations, which includes both non-holonomic and holonomic modes of locomotion, as well as an appropriately designed unified objective function. The choice between holonomic and non-holonomic behavior is not accomplished by a switching model, but it appears in a smooth way, along with the optimal path, as a result of the optimization by efficient numerical techniques. The proposed model and objective function are successfully tested in six different locomotion scenarios. The resulting paths are implemented on the HRP-2 robot in the simulation environment OpenHRP as well as in the experiment on the real robot.

Keywords: BIOLOGICALLY INSPIRED PATH PLANNING; HOLONOMIC AND NON-HOLONOMIC WALKING; HUMANOID; LOCOMOTION; OPTIMAL CONTROL

Document Type: Research Article

DOI: http://dx.doi.org/10.1163/016918610X487090

Affiliations: 1: Joint French-Japanese Robotics Laboratory, LAAS-CNRS, Université de Toulouse, 7 ave du Colonel Roche, 31077 Toulouse, France;, Email: kmombaur@laas.fr 2: Joint French-Japanese Robotics Laboratory, LAAS-CNRS, Université de Toulouse, 7 ave du Colonel Roche, 31077 Toulouse, France 3: Joint French-Japanese Robotics Laboratory, LAAS-CNRS, Université de Toulouse, 7 ave du Colonel Roche, 31077 Toulouse, France, CNRS-AIST Joint Robotics Laboratory, UMI 3218/CRT, National Institute of Advanced Industrial Science and Technology, Umezono 1-1-1, Tsukuba, Ibaraki 305-8568, Japan

Publication date: March 1, 2010

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