We present a method for performing evasive motions with a humanoid robot. In the considered scenario, the robot is standing in a workspace, when a moving obstacle (e.g., a human, or another robot) enters its safety area and heads towards it; the humanoid must plan and execute in real-time a maneuver that avoids the collision. The proposed method goes through several conceptual steps. Once the entrance of the moving obstacle in the safety area is detected, its approach direction relative to the robot is determined. On the basis of this information, a suitable evasion maneuver represented by footsteps is generated. From these, an appropriate trajectory is computed for the Center of Mass of the humanoid. Finally, joint motion commands are generated so as to track such trajectory. All computations make use of closed-form expressions and are therefore suitable for real-time implementation. The proposed approach is validated via simulations and experiments on a NAO humanoid. The possibility of adapting the basic method so as to be used in a replanning framework is also investigated.

Real-time planning and execution of evasive motions for a humanoid robot / Cognetti, Marco; DE SIMONE, Daniele; Lanari, Leonardo; Oriolo, Giuseppe. - ELETTRONICO. - (2016), pp. 4200-4206. (Intervento presentato al convegno 2016 IEEE International Conference on Robotics and Automation, ICRA 2016 tenutosi a Stockholm; Sweden nel 2016) [10.1109/ICRA.2016.7487614].

Real-time planning and execution of evasive motions for a humanoid robot

COGNETTI, MARCO
;
DE SIMONE, DANIELE
;
LANARI, Leonardo
;
ORIOLO, Giuseppe
2016

Abstract

We present a method for performing evasive motions with a humanoid robot. In the considered scenario, the robot is standing in a workspace, when a moving obstacle (e.g., a human, or another robot) enters its safety area and heads towards it; the humanoid must plan and execute in real-time a maneuver that avoids the collision. The proposed method goes through several conceptual steps. Once the entrance of the moving obstacle in the safety area is detected, its approach direction relative to the robot is determined. On the basis of this information, a suitable evasion maneuver represented by footsteps is generated. From these, an appropriate trajectory is computed for the Center of Mass of the humanoid. Finally, joint motion commands are generated so as to track such trajectory. All computations make use of closed-form expressions and are therefore suitable for real-time implementation. The proposed approach is validated via simulations and experiments on a NAO humanoid. The possibility of adapting the basic method so as to be used in a replanning framework is also investigated.
2016
2016 IEEE International Conference on Robotics and Automation, ICRA 2016
Humanoid; Evasion: Control
04 Pubblicazione in atti di convegno::04b Atto di convegno in volume
Real-time planning and execution of evasive motions for a humanoid robot / Cognetti, Marco; DE SIMONE, Daniele; Lanari, Leonardo; Oriolo, Giuseppe. - ELETTRONICO. - (2016), pp. 4200-4206. (Intervento presentato al convegno 2016 IEEE International Conference on Robotics and Automation, ICRA 2016 tenutosi a Stockholm; Sweden nel 2016) [10.1109/ICRA.2016.7487614].
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11573/872274
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