Optimizing energy consumption and preventing slips at the footstep planning level

Martim Brandão, Kenji Hashimoto, José Santos-Victor, Atsuo Takanishi

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

    8 Citations (Scopus)

    Abstract

    Energy consumption and stability are two important problems for humanoid robots deployed in remote outdoor locations. In this paper we propose an extended footstep planning method to optimize energy consumption while considering motion feasibility and ground friction constraints. To do this we estimate models of energy, feasibility and slippage in physics simulation, and integrate them into a hybrid A∗ search and optimization-based planner. The graph search is done in footstep position space, while timing (leg swing and double support times) and COM motion (parameterized height trajectory) are obtained by solving an optimization problem at each node. We conducted experiments to validate the obtained energy model on the real robot, as well as planning experiments showing 9 to 19% energy savings. In example scenarios, the robot can correctly plan to optimally traverse slippery patches or avoid them depending on their size and friction; and uses stairs with the most beneficial dimensions in terms of energy consumption.

    Original languageEnglish
    Title of host publicationIEEE-RAS International Conference on Humanoid Robots
    PublisherIEEE Computer Society
    Pages1-7
    Number of pages7
    Volume2015-December
    ISBN (Print)9781479968855
    DOIs
    Publication statusPublished - 2015 Dec 22
    Event15th IEEE RAS International Conference on Humanoid Robots, Humanoids 2015 - Seoul, Korea, Republic of
    Duration: 2015 Nov 32015 Nov 5

    Other

    Other15th IEEE RAS International Conference on Humanoid Robots, Humanoids 2015
    CountryKorea, Republic of
    CitySeoul
    Period15/11/315/11/5

    Keywords

    • Biological system modeling
    • Energy consumption
    • Friction
    • Planning
    • Robot kinematics

    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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  • Cite this

    Brandão, M., Hashimoto, K., Santos-Victor, J., & Takanishi, A. (2015). Optimizing energy consumption and preventing slips at the footstep planning level. In IEEE-RAS International Conference on Humanoid Robots (Vol. 2015-December, pp. 1-7). [7363514] IEEE Computer Society. https://doi.org/10.1109/HUMANOIDS.2015.7363514