Planning and fast re-planning of safe motions for humanoid robots: Application to a kicking motion
Planning and fast re-planning of safe motions for humanoid robots: Application to a kicking motion
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人形机器人安全运动的规划和快速重新规划：在踢腿运动中的应用
DOI：
10.1109/iros.2009.5354002
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发表时间：
2009
期刊：
影响因子：
--
通讯作者：
N. Ramdani
中科院分区：
文献类型：
--
作者：
S. Lengagne;P. Fraisse;N. Ramdani
最佳运动通常用作重复或复杂运动的关节参考轨迹。就足球机器人而言，踢球运动通常是离线计算的基准运动，不考虑机器人的当前位置或球门方向。此外，机器人必须对任何情况做出快速反应，即使不是预期的，并且不能花时间通过经典方式生成新的最佳运动。因此，我们提出了一种基于运动参数的可行子集的离线计算的快速运动重新规划的新方法，使用区间分析。
Optimal motions are usually used as joint reference trajectories for repetitive or complex motions. In the case of soccer robots, the kicking motion is usually a benchmark motion, computed off-line, without taking into account the current position of the robot or the direction of the goal. Moreover, robots must react quickly to any situation, even if not expected, and cannot spend time to generate a new optimal motion by the classical way. Therefore, we propose a new method for fast motion re-planning based on an off-line computation of a feasible sub-set of the motion parameters, using Interval Analysis.