Point-cloud multi-contact planning for humanoids: Preliminary results

Brossette, Stanislas; Vaillant, Joris; Keith, François; Escande, Adrien; Kheddar, Abderrahmane

doi:10.1109/ram.2013.6758553

Cited by 13 publications

(13 citation statements)

References 16 publications

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“…Also, vision perception tasks are to be integrated in our multi-objective controller to achieve visual servoing using model/cloud matching. We already started trials for planning on point clouds [12], other recent work suggests that contact areas can even be extracted and understood directly from point clouds [15].…”

Section: Resultsmentioning

confidence: 99%

Multi-contact vertical ladder climbing with an HRP-2 humanoid

et al. 2016

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We describe the research and integration methods we developed to give the HRP-2 humanoid robot the capability to climb vertical industrial-norm ladders. Our approach makes use of our multi-contact planner and multiobjective closed-loop control formulated as a QP (quadratic program). First, a set of contacts to climb the ladder is planned off-line (automatically or by the user). These contacts are provided as an input for a finite state machine. The latter builds additional intermediary tasks accounting for geometric uncertainties and specific grasps procedures to be realized by our multi-objective model-based QP controller. This controller provides instant desired states in terms of joint accelerations and contact forces to be tracked by the embedded low-level motor controllers. Our trials revealed that hardware changes are to be made on the HRP-2, and parts of software are to be made more robust. Yet, we confirmed that HRP-2 has the kinematic and power capabilities to climb real industrial ladders, which can be found in nuclear power plants and large scale manufacturing such as shipyards, aircraft factories and construction sites.Keywords Humanoid robots · multi-contact motion planning and control · field humanoid robots · disaster humanoid robots Notice that : (i) it is not possible to put two feet on a same rung (ii) closed grippers do not grab firmly the rungs (iii) each foot can be freely positioned on each rung: the right foot is rotated to increase the reaching range of the left arm toward the higher rung.

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Section: Resultsmentioning

confidence: 99%

Multi-contact vertical ladder climbing with an HRP-2 humanoid

et al. 2016

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“…Although all those computation times are long, and make it inconvenient to compute large numbers of postures, as is often done in contact planning, they remain of the same order of magnitude as the ones reported in [33] In order to have a better understanding of its most common failure cases, we compiled the termination status of our solver that we report in Table I. This allows us to evaluate the weaknesses of our solver and will guide our future developments toward improving its robustness.…”

Section: B Posture Generator's Evaluationmentioning

confidence: 87%

Multicontact Postures Computation on Manifolds

2018

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Abstract-We propose a framework to generate static robot configurations satisfying a set of physical and geometrical constraints. This is done by formulating nonlinear constrained optimization problems over non-Euclidean manifolds and solving them. To do so, we present a new sequential quadratic programming (SQP) solver working natively on general manifolds, and propose an interface to easily formulate the problems, with the tedious and error-prone work automated for the user. We also introduce several new types of constraints for having more complex contacts or working on forces/torques. Our approach allows an elegant mathematical description of the constraints and we exemplify it through formulation and computation examples in complex scenarios with humanoid robots.

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“…point clouds. The PG on point cloud has been explored in preliminary experiments using plane segmentation for stair climbing [17], and in multi-contact navigation planning in flat and rigid surfaces environments [18]. In pHRI, however, basic plane fitted on a point cloud cannot wellrepresent human body surfaces.…”

Section: Related Workmentioning

confidence: 99%

Multi-Contact Planning on Humans for Physical Assistance by Humanoid

Bolotnikova

Courtois

Kheddar

2020

IEEE Robot. Autom. Lett.

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For robots to interact with humans in close proximity safely and efficiently, a specialized method to compute whole-body robot posture and plan contact locations is required. In our work, a humanoid robot is used as a caregiver that is performing a physical assistance task. We propose a method for formulating and initializing a non-linear optimization posture generation problem from an intuitive description of the assistance task and the result of a human point cloud processing. The proposed method allows to plan whole-body posture and contact locations on a task-specific surface of a human body, under robot equilibrium, friction cone, torque/joint limits, collision avoidance, and assistance task inherent constraints. The proposed framework can uniformly handle any arbitrary surface generated from point clouds, for autonomously planing the contact locations and interaction forces on potentially moving, movable, and deformable surfaces, which occur in direct physical human-robot interaction. We conclude the paper with examples of posture generation for physical human-robot interaction scenarios.

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Point-cloud multi-contact planning for humanoids: Preliminary results

Cited by 13 publications

References 16 publications

Multi-contact vertical ladder climbing with an HRP-2 humanoid

Multi-contact vertical ladder climbing with an HRP-2 humanoid

Multicontact Postures Computation on Manifolds

Multi-Contact Planning on Humans for Physical Assistance by Humanoid

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