On humanoid motion optimization

Author

Suleiman, Wael ; Yoshida, Eiichi ; Laumond, Jean-Paul ; Monin, Andre

Author_Institution

LAAS, Univ. of Toulouse, Toulouse

fYear

2007

fDate

Nov. 29 2007-Dec. 1 2007

Firstpage

180

Lastpage

187

Abstract

In this paper, we present a recursive method for the optimization of humanoid robot motions. The method is based on an efficient dynamics algorithm, which allows the calculation of the gradient function with respect to the control parameters analytically. The algorithm makes use of the theory of Lie groups and Lie algebra. The main objective of this method is to smooth the pre-calculated humanoid motions by minimizing the efforts, and at the same time improving the stability of the humanoid robot during the execution of the planned tasks. Experimental results using HRP-2 platform are provided to validate the proposed method.

Keywords

Lie algebras; Lie groups; gradient methods; humanoid robots; mobile robots; motion control; optimisation; path planning; stability; Lie algebra; Lie group theory; dynamics algorithm; gradient function; humanoid robot optimization; mobile robot; motion control; planned task; recursive method; stability improvement; Energy dissipation; Humanoid robots; Humans; Intelligent robots; Kinematics; Optimization methods; Robot control; Service robots; Stability; Torque control;

fLanguage

English

Publisher

ieee

Conference_Titel

Humanoid Robots, 2007 7th IEEE-RAS International Conference on

Conference_Location

Pittsburgh, PA

Print_ISBN

978-1-4244-1861-9

Electronic_ISBN

978-1-4244-1862-6

Type

conf

DOI

10.1109/ICHR.2007.4813866

Filename

4813866