Non-stop motion replanning capable of multi-scale spatiotemporal adaptation for robots with many degrees of freedom

• Project/Area Number: 21300078
• Research Category: Grant-in-Aid for Scientific Research (B)
• Allocation Type: Single-year Grants
• Section: 一般
• Research Field: Perception information processing/Intelligent robotics
• Research Institution: National Institute of Advanced Industrial Science and Technology
• Principal Investigator: YOSHIDA Eiichi 独立行政法人産業技術総合研究所, 知能システム研究部門, 連携研究体長 (30358329)
• Co-Investigator(Kenkyū-buntansha): KANEHIRO Fumio 独立行政法人産業技術総合研究所, 知能システム研究部門, 主任研究員 (70356806) ; HARADA Kensuke 独立行政法人産業技術総合研究所, 知能システム研究部門, 主任研究員 (50294533)
• Co-Investigator(Renkei-kenkyūsha): YOKOI Kazuhito 独立行政法人産業技術総合研究所, 知能システム研究部門, 副研究部門長 (40358304)
• Project Period (FY): 2009 – 2011
• Project Status: Completed (Fiscal Year 2011)
• Budget Amount: ¥17,420,000 (Direct Cost: ¥13,400,000、Indirect Cost: ¥4,020,000); Fiscal Year 2011: ¥4,420,000 (Direct Cost: ¥3,400,000、Indirect Cost: ¥1,020,000); Fiscal Year 2010: ¥5,720,000 (Direct Cost: ¥4,400,000、Indirect Cost: ¥1,320,000); Fiscal Year 2009: ¥7,280,000 (Direct Cost: ¥5,600,000、Indirect Cost: ¥1,680,000)
• Keywords: 知能ロボティックス / モーションプランニング / 多自由度ロボット / 実時間計画

Research Abstract

This research aims at establishing a motion planning framework that is capable of adapting the planned robot motions to a changing environment in multiple spatial and temporal scales. Spatial adaptation has first been achieved by exploiting" dominant degrees of freedom(DOF)" that governs global robot motions, together with a framework of parallel path planning and execution. Next, we devised temporal adaptation through global timing and local path deformation in order to generate adaptive motions. Those multi-scale spatial and temporal adaptation capabilities are integrated via a hierarchical roadmap data structure and applied to different types of robots to validate its effectiveness.

Research Products

• [Journal Article] Online Motion Planning using Path Deformation and Replanning (2011)
  • Author(s): 吉田英一、金広文男、横井一仁、P. Gergondet
  • Journal Title: Journal of the Robotics Society of Japan Volume: 29 Issue: 8 Pages: 716-725
  • DOI: 10.7210/jrsj.29.716
  • NAID: 10029819374
  • ISSN: 0289-1824, 1884-7145
  • Peer Reviewed
• [Journal Article] Reactive Robot Motion using Path Replanning and Deformation (2011)
  • Author(s): 吉田英一、金広文男
  • Journal Title: Proceedings of IEEE Int. Conf. Robotics and Automation Volume: 29-8 Pages: 5457-5462
  • DOI: 10.1109/icra.2011.5980361
  • Peer Reviewed
• [Journal Article] Online Replanning for Reactive Robot Motion : Practical Aspects (2010)
  • Author(s): 吉田英一、横井一仁、P. Gergondet
  • Journal Title: Proceedings of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems Pages: 5927-5933
  • DOI: 10.1109/iros.2010.5649645
  • Peer Reviewed
• [Journal Article] Online Replanning for Reactive Robot Motion: Practical Aspects (2010)
  • Author(s): 吉田英一、横井一仁、Pierre Gergondet
  • Journal Title: Proceedings of IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems(IROS2010) Pages: 5927-5933
  • Peer Reviewed
• [Journal Article] An optimization formulation for footsteps planning (2009)
  • Author(s): Oussama Kanoun, 吉田英一、Jean-Paul Laumond
  • Journal Title: Proceedings of 9th IEEE-RAS International Conference on Humanoid Robots Pages: 202-207
  • Peer Reviewed
• [Journal Article] Feasible Pattern Generation Method for Humanoid Robots (2009)
  • Author(s): 金広文男、Wael Suleiman、三浦郁奈子、森澤光晴、吉田英一
  • Journal Title: Proceedings of 9th IEEE-RAS International Conference on Humanoid Robots Pages: 542-548
  • Peer Reviewed
• [Presentation] Real-time Walking Path Planning with 3D Collision Avoidance (2011)
  • Author(s): Leo Baudouin、Nicolas Perrin、Thomas Moulard、Florent Lamiraux、Olivier Stasse、吉田英一
  • Organizer: IEEE/RSJ 2011 Int. Conf. on Intelligent Robots and Systems(IROS 2011), Workshop on Progress and Open Problems in Motion Planning
  • Place of Presentation: San Francisco, USA
  • Year and Date: 2011-09-30
• [Presentation] Real-time Walking Path Planning with 3D Collision Avoidance (2011)
  • Author(s): Leo Baudouin, Nicolas Perrin, Olivier Stasse, Thomas Moulard, Florent Lamiraux, 吉田英一
  • Organizer: Proceedings of IEEE/RSJ 2011 International Conference on Intelligent Robots and Systems : Workshop on Progress and Open Problems in Motion Planning
  • Place of Presentation: サンフランシスコ、アメリカ
  • Year and Date: 2011-09-30
• [Presentation] 経路の変形と再探索を併用したオンライン動作再計画 (2010)
  • Author(s): 吉田英一、金広文男、横井一仁、P. Gergondet
  • Organizer: 第28回日本ロボット学会学術講演会
  • Place of Presentation: 名古屋
  • Year and Date: 2010-09-24
• [Presentation] 経路の再探索と変形を併用したオンライン動作再計画 (2010)
  • Author(s): 吉田英一
  • Organizer: 第28回日本ロボット学会学術講演会
  • Place of Presentation: 名古屋
  • Year and Date: 2010-09-24