Unified Multi-Contact Fall Mitigation Planning for Humanoids via Contact Transition Tree Optimization

Shihao Wang, Kris Hauser

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

Abstract

This paper presents a multi-contact approach to generalized humanoid fall mitigation planning that unifies inertial shaping, protective stepping, and hand contact strategies. The planner optimizes both the contact sequence and the robot state trajectories. A high-level tree search is conducted to iteratively grow a contact transition tree. At each edge of the tree, trajectory optimization is used to calculate robot stabilization trajectories that produce the desired contact transition while minimizing kinetic energy. Also, at each node of the tree, the optimizer attempts to find a self-motion (inertial shaping movement)to eliminate kinetic energy. This paper also presents an efficient and effective method to generate initial seeds to facilitate trajectory optimization. Experiments demonstrate show that our proposed algorithm can generate complex stabilization strategies for a simulated planar robot under varying initial pushes and environment shapes.

Original languageEnglish (US)
Title of host publication2018 IEEE-RAS 18th International Conference on Humanoid Robots, Humanoids 2018
PublisherIEEE Computer Society
Pages33-39
Number of pages7
ISBN (Electronic)9781538672839
DOIs
StatePublished - Jan 23 2019
Externally publishedYes
Event18th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2018 - Beijing, China
Duration: Nov 6 2018Nov 9 2018

Publication series

NameIEEE-RAS International Conference on Humanoid Robots
Volume2018-November
ISSN (Print)2164-0572
ISSN (Electronic)2164-0580

Conference

Conference18th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2018
CountryChina
CityBeijing
Period11/6/1811/9/18

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Hardware and Architecture
  • Human-Computer Interaction
  • Electrical and Electronic Engineering

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