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

    7 引用 (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.

    元の言語English
    ホスト出版物のタイトルIEEE-RAS International Conference on Humanoid Robots
    出版者IEEE Computer Society
    ページ1-7
    ページ数7
    2015-December
    ISBN(印刷物)9781479968855
    DOI
    出版物ステータスPublished - 2015 12 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 32015 11 5

    Other

    Other15th IEEE RAS International Conference on Humanoid Robots, Humanoids 2015
    Korea, Republic of
    Seoul
    期間15/11/315/11/5

    Fingerprint

    Energy utilization
    Robots
    Planning
    Friction
    Stairs
    Energy conservation
    Physics
    Experiments
    Trajectories

    ASJC Scopus subject areas

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

    これを引用

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

    Optimizing energy consumption and preventing slips at the footstep planning level. / Brandão, Martim; Hashimoto, Kenji; Santos-Victor, José; Takanishi, Atsuo.

    IEEE-RAS International Conference on Humanoid Robots. 巻 2015-December IEEE Computer Society, 2015. p. 1-7 7363514.

    研究成果: Conference contribution

    Brandão, M, Hashimoto, K, Santos-Victor, J & Takanishi, A 2015, Optimizing energy consumption and preventing slips at the footstep planning level. : IEEE-RAS International Conference on Humanoid Robots. 巻. 2015-December, 7363514, IEEE Computer Society, pp. 1-7, 15th IEEE RAS International Conference on Humanoid Robots, Humanoids 2015, Seoul, Korea, Republic of, 15/11/3. https://doi.org/10.1109/HUMANOIDS.2015.7363514
    Brandão M, Hashimoto K, Santos-Victor J, Takanishi A. Optimizing energy consumption and preventing slips at the footstep planning level. : IEEE-RAS International Conference on Humanoid Robots. 巻 2015-December. IEEE Computer Society. 2015. p. 1-7. 7363514 https://doi.org/10.1109/HUMANOIDS.2015.7363514
    Brandão, Martim ; Hashimoto, Kenji ; Santos-Victor, José ; Takanishi, Atsuo. / Optimizing energy consumption and preventing slips at the footstep planning level. IEEE-RAS International Conference on Humanoid Robots. 巻 2015-December IEEE Computer Society, 2015. pp. 1-7
    @inproceedings{21d8d7c6e48f44d09eea0d1e31a5adc4,
    title = "Optimizing energy consumption and preventing slips at the footstep planning level",
    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.",
    keywords = "Biological system modeling, Energy consumption, Friction, Planning, Robot kinematics",
    author = "Martim Brand{\~a}o and Kenji Hashimoto and Jos{\'e} Santos-Victor and Atsuo Takanishi",
    year = "2015",
    month = "12",
    day = "22",
    doi = "10.1109/HUMANOIDS.2015.7363514",
    language = "English",
    isbn = "9781479968855",
    volume = "2015-December",
    pages = "1--7",
    booktitle = "IEEE-RAS International Conference on Humanoid Robots",
    publisher = "IEEE Computer Society",

    }

    TY - GEN

    T1 - Optimizing energy consumption and preventing slips at the footstep planning level

    AU - Brandão, Martim

    AU - Hashimoto, Kenji

    AU - Santos-Victor, José

    AU - Takanishi, Atsuo

    PY - 2015/12/22

    Y1 - 2015/12/22

    N2 - 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.

    AB - 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.

    KW - Biological system modeling

    KW - Energy consumption

    KW - Friction

    KW - Planning

    KW - Robot kinematics

    UR - http://www.scopus.com/inward/record.url?scp=84962232788&partnerID=8YFLogxK

    UR - http://www.scopus.com/inward/citedby.url?scp=84962232788&partnerID=8YFLogxK

    U2 - 10.1109/HUMANOIDS.2015.7363514

    DO - 10.1109/HUMANOIDS.2015.7363514

    M3 - Conference contribution

    AN - SCOPUS:84962232788

    SN - 9781479968855

    VL - 2015-December

    SP - 1

    EP - 7

    BT - IEEE-RAS International Conference on Humanoid Robots

    PB - IEEE Computer Society

    ER -