Optimizing energy consumption and preventing slips at the footstep planning level

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

    研究成果: Conference contribution

    9 被引用数 (Scopus)

    抄録

    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.

    本文言語English
    ホスト出版物のタイトルIEEE-RAS International Conference on Humanoid Robots
    出版社IEEE Computer Society
    ページ1-7
    ページ数7
    2015-December
    ISBN(印刷版)9781479968855
    DOI
    出版ステータスPublished - 2015 12月 22
    イベント15th IEEE RAS International Conference on Humanoid Robots, Humanoids 2015 - Seoul, Korea, Republic of
    継続期間: 2015 11月 32015 11月 5

    Other

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

    ASJC Scopus subject areas

    • 人工知能
    • コンピュータ ビジョンおよびパターン認識
    • ハードウェアとアーキテクチャ
    • 人間とコンピュータの相互作用
    • 電子工学および電気工学

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