Motion Synthesis through Randomized Exploration on Submanifolds of Configuration Space

Ioannis Havoutis, Subramanian Ramamoorthy

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

Abstract / Description of output

Motion synthesis for humanoid robot behaviours is made difficult by the combination of task space, joint space and kinodynamic constraints that define realisability. Solving these problems by general purpose methods such as sampling based motion planning has involved significant computational complexity, and has also required specialised heuristics to handle constraints. In this paper we propose an approach to incorporate specifications and constraints as a bias in the exploration process of such planning algorithms. We present a general approach to solving this problem wherein a subspace, of the configuration space and consisting of poses involved in a specific task, is identified in the form of a nonlinear manifold, which is in turn used to focus the exploration of a sampling based motion planning algorithm. This allows us to solve the motion planning problem so that we synthesize previously unseen paths for novel goals in a way that is strongly biased by known good or feasible paths, e.g., from human demonstration. We demonstrate this result with a simulated humanoid robot performing a number of bipedal tasks.

Original languageEnglish
Title of host publicationROBOCUP 2009: ROBOT SOCCER WORLD CUP XIII
EditorsJ Baltes, MG Lagoudakis, T Naruse, SS Ghidary
Place of PublicationBERLIN
PublisherSpringer-Verlag GmbH
Pages92-103
Number of pages12
ISBN (Print)978-3-642-11875-3
Publication statusPublished - 2010
Event13th RoboCup Symposium held in Conjunction with the RoboCup Competition 2009 - Graz
Duration: 29 Jun 20095 Jul 2009

Conference

Conference13th RoboCup Symposium held in Conjunction with the RoboCup Competition 2009
CityGraz
Period29/06/095/07/09

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