Natural motion generation for humanoid robots

Kensuke Harada, Kris Hauser, Tim Bretl, Jean Claude Latombe

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

Abstract

This paper presents a method of generating natural-looking motion primitives for humanoid robots. An optimization-based approach is used to generate these primitives, but the objective function is tailored to each one and complexity is reduced by identifying relevant degrees of freedom. Several examples are shown in simulation: for an arm movement to reach an object, it is better to minimize the acceleration of key parts of the robot over its entire trajectory; for a single step on flat ground, it is better to minimize the torque and instantaneous angular momentum at every posture. The primitives are precomputed off-line, but might be used by on-line planner either to provide a fixed set of maneuvers or to bias a probabilistic, sample-based search for motions.

Original languageEnglish (US)
Title of host publication2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Pages833-839
Number of pages7
DOIs
StatePublished - 2006
Externally publishedYes
Event2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 - Beijing, China
Duration: Oct 9 2006Oct 15 2006

Publication series

NameIEEE International Conference on Intelligent Robots and Systems

Other

Other2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Country/TerritoryChina
CityBeijing
Period10/9/0610/15/06

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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