Motion Planning for Multi-Contact Visual Servoing on Humanoid Robots

Kevin Giraud-Esclasse, Pierre Fernbach, Gabriele Buondonno, Carlos Mastalli, Olivier Stasse

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper describes the implementation of a motion generation pipeline motivated by vision for a TALOS humanoid robot. From a starting configuration and given a set of visual features and their desired values, the problem is to find a motion which makes the robot reach the desired values of the visual features. In order to achieve a feasible Gazebo simulation with the targeted robot, we had to use a multicontact planner, a Differential Dynamic Programming (DDP) algorithm, and a stabilizer. The multicontact planner provides a set of contacts and dynamically consistent trajectories for the Center-Of-Mass (CoM) and the Center-Of-Pressure (CoP). It provides a structure to initialize a DDP algorithm which, in turn, provides a dynamically consistent trajectory for all the joints as it integrates all the dynamics of the robot, together with rigid contact models and the visual task. Tested on Gazebo the resulting trajectory had to be stabilized with a state-of-the-art algorithm to be successful.
Original languageEnglish
Title of host publication2020 IEEE/SICE International Symposium on System Integration (SII)
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Pages156-163
Number of pages8
ISBN (Electronic)978-1-7281-6667-4
ISBN (Print)978-1-7281-6668-1
DOIs
Publication statusPublished - 9 Mar 2020
Event2020 IEEE/SICE International Symposium on System Integration - Hawaii Convention Center, Honolulu, United States
Duration: 12 Jan 202015 Jan 2020
https://sice-si.org/conf/SII2020/

Publication series

Name
PublisherInstitute of Electrical and Electronics Engineers
ISSN (Print)2474-2317
ISSN (Electronic)2474-2325

Symposium

Symposium2020 IEEE/SICE International Symposium on System Integration
Abbreviated titleSII 2020
CountryUnited States
CityHonolulu
Period12/01/2015/01/20
Internet address

Keywords

  • Trajectory
  • Visualization
  • Task analysis
  • Heuristic algorithms
  • Dynamics
  • Humanoid robots

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