A unified multi-contact planning framework for simultaneous whole-body manipulation with acyclic locomotion

• Project/Area Number: 22300071
• 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: KHEDDAR Abderrahmane 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, 研究員 (90572082)
• Co-Investigator(Kenkyū-buntansha): 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, 研究員 (30358329) ; 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, 研究グループ長 (50294533)
• Co-Investigator(Renkei-kenkyūsha): KARIM Bouyarmane ; ESANDE Adrien
• Project Period (FY): 2010 – 2012
• Project Status: Completed (Fiscal Year 2012)
• Budget Amount: ¥18,070,000 (Direct Cost: ¥13,900,000、Indirect Cost: ¥4,170,000); Fiscal Year 2012: ¥4,940,000 (Direct Cost: ¥3,800,000、Indirect Cost: ¥1,140,000); Fiscal Year 2011: ¥5,070,000 (Direct Cost: ¥3,900,000、Indirect Cost: ¥1,170,000); Fiscal Year 2010: ¥8,060,000 (Direct Cost: ¥6,200,000、Indirect Cost: ¥1,860,000)
• Keywords: アニメーション / ディジタルヒューマン / 接触動作計画 / 知能ロボティックス / モーションプランニング

Research Abstract

We achieved a multi-contact planning for virtual avatars or robots that combines manipulation and non-gaited locomotion in a unified way. We combined the duality of two basic techniques for motion generation: planning guided by potential field functions

Research Products

• [Journal Article] Generation of whole-body optimal dynamic multi-contact motions (2013)
  • Author(s): S. Lengagne, J. Vaillant, E. Yoshida, A. Kheddar
  • Journal Title: International Journal of Robotics Research Volume: 32 Issue: 9-10 Pages: 1104-1119
  • DOI: 10.1177/0278364913478990
  • Peer Reviewed
• [Journal Article] Humanoid robot locomotion and manipulation step planning (2012)
  • Author(s): K. Bouyarmane, A. Kheddar
  • Journal Title: Advanced Robotics Volume: Vol.26, No. 10 Issue: 10 Pages: 1099-1126
  • DOI: 10.1080/01691864.2012.686345
  • Peer Reviewed
• [Journal Article] Planning contact points for humanoid robots (2012)
  • Author(s): A. Escande, A. Kheddar, S. Miossec
  • Journal Title: Robotics and Autonomous Systems Volume: Vol.16, No.5 Issue: 5 Pages: 428-442
  • DOI: 10.1016/j.robot.2013.01.008
  • Peer Reviewed
• [Journal Article] Multi-contacts planning for multiple agents (2011)
  • Author(s): K.Bouyarmane, A.Kheddar
  • Journal Title: Proceedings of 2011 IEEE International Conference on Robotics and Automation (ICRA 2011) Pages: 5246-5253
  • DOI: 10.1109/icra.2011.5980088
  • Peer Reviewed
• [Journal Article] Using a multi-objective controller to synthesize simulated humanoid robot motion with changing contact configurations (2011)
  • Author(s): K.Bouyarmane, A.Kheddar
  • Journal Title: Proceedings of 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pages: 4414-4419
  • DOI: 10.1109/iros.2011.6094483
  • Peer Reviewed
• [Journal Article] FEM-based static posture planning for a humanoid robot on deformable contact support (2011)
  • Author(s): K.Bouyarmane, A.Kheddar
  • Journal Title: Proceedings of 11th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2011) Pages: 487-492
  • DOI: 10.1109/humanoids.2011.6100848
  • Peer Reviewed
• [Journal Article] Emulating human leg impairments and disabilities on humanoid robots walking (2011)
  • Author(s): S.Lengagne, A.Kheddar, S.Druon, 吉田英一
  • Journal Title: Proceedings of 2011 IEEE International Conference on Robotics and Biomimetics (ROBIO 2011) Pages: 2372-2377
  • DOI: 10.1109/robio.2011.6181653
  • Peer Reviewed
• [Journal Article] Static Multi-Contact Inverse Problem for Multiple Humanoid Robots and Manipulated Objects (2010)
  • Author(s): K.Bouyarmane, A.Kheddar
  • Journal Title: Proc.2010 IEEE-RAS Int.Conf.on Humanoid Robots (Humanoids 2010) Pages: 8-13
  • Peer Reviewed
• [Presentation] Exploring humanoid robots locomotion capabilities in virtual disaster response scenarios (2012)
  • Author(s): K. Bouyarmane, J. Vaillant, F. Keith, A. Kheddar
  • Organizer: IEEE-RAS International Conference on Humanoid Robots
  • Place of Presentation: Osaka, Japan
• [Presentation] On the dynamics modeling offree-floating-base articulated mechanisms and applications to humanoid whole-body dynamics and control (2012)
  • Author(s): K. Bouyarmane, A. Kheddar
  • Organizer: IEEE-RAS International Conference on Humanoid Robots
  • Place of Presentation: Osaka, Japan
• [Presentation] Accurate evaluation of a distance function for optimization-based motion planning (2012)
  • Author(s): Y. Lee, S. Lengagne, A. Kheddar, Y-J. Kim
  • Organizer: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
  • Place of Presentation: Vilamoura, Algarve
• [Presentation] Exploring humanoid robots locomotion capabilities in virtual disaster response scenarios (2012)
  • Author(s): K. Bouyarmane, J. Vaillant, F. Keith, A. Kheddar (K. Bouyarmane)
  • Organizer: IEEE-RAS International Conference on Humanoid Robots
  • Place of Presentation: 大阪
• [Presentation] On the dynamics modeling of free-floating-base articulated mechanisms and applications to humanoid whole-body dynamics and control (2012)
  • Author(s): K. Bouyarmane, A. Kheddar (K. Bouyarmane)
  • Organizer: IEEE-RAS International Conference on Humanoid Robots
  • Place of Presentation: 大阪
• [Presentation] Accurate evaluation of a distance function for optimization-based motion planning (2012)
  • Author(s): Y. Lee, S. Lengagne, A. Kheddar, Y-J. Kim (Y. Lee)
  • Organizer: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
  • Place of Presentation: Vilamoura, Algarve, Portugal
• [Presentation] Contact humanoids (2012)
  • Author(s): A. Kheddar
  • Organizer: IEEE/RAS Humanoids Workshop on "Real world challenges for humanoids", organizers: T. Asfour (invited by), M. Inaba, A. Ude, R. Dillman
  • Place of Presentation: 大阪
  • Invited
• [Presentation] Handling some constraints in optimization planning in humanoid robots (2012)
  • Author(s): A. Kheddar
  • Organizer: IEEE/RAS Humanoids Workshop on "Generating optimal paths in humanoid and industrial robotics", organizers: K. Mombaur (invited by), M. Felis, F. Lamiraux, A. El Khoury
  • Place of Presentation: 大阪
  • Invited
• [Presentation] Contact humanoids (2012)
  • Author(s): A. Kheddar
  • Organizer: Mini-workshop on Humanoids, Avatars, and Robots , DIAG, keynote lecture, invitation by Prof. Alessandro de Luca and Prof. Salvatore Maria Aglioti
  • Place of Presentation: at Sapienza Universita di Roma, Italy
  • Invited
• [Presentation] Multi-contact acyclic motion planning for humanoid robotics and human ayatars (2011)
  • Author(s): A.Kheddar
  • Organizer: 基調講演、First international symposium on Digital Human Modeling (DHM)
  • Place of Presentation: フランス・リヨン
  • Year and Date: 2011-06-15
• [Presentation] Planning humanoid multi-contact dynamic motion using optimization techniques (2011)
  • Author(s): A.Kheddar
  • Organizer: IEEE ICRA workshop on Motion planning for physical robotics, organizers : J.-P.Laumond and D.Manocha
  • Place of Presentation: 中国・上海
  • Year and Date: 2011-05-09
• [Presentation] Static posture planning for a humanoid robot on deformable contact support (2011)
  • Author(s): K. Bouyarmane, A. Kheddar
  • Organizer: IEEE-RAS International Conference on Humanoid Robots
  • Place of Presentation: Bled, Slovenia
• [Presentation] Using a multi-objective controller to synthesize simulated humanoid robot motion with changing contact configurations (2011)
  • Author(s): K. Bouyarmane, A. Kheddar
  • Organizer: IEEE/RSJ IROS
  • Place of Presentation: San Francisco, USA
• [Presentation] Multi-contacts planning for multiple agents (2011)
  • Author(s): K. Bouyarmane, A. Kheddar
  • Organizer: IEEE International Conference on Robotics and Automation
  • Place of Presentation: Shanghai, China
• [Presentation] A Generalized Framework for Unified Multi-Contact Stances Planning of Multi-Agent Locomotion and Manipulation Systems (2010)
  • Author(s): Karim Bouyarmane
  • Organizer: The 9th International Workshop on the Algorithmic Foundations of Robotics
  • Place of Presentation: シンガポール
  • Year and Date: 2010-12-13
• [Presentation] Humanoid robot locomotion and manipulation step planning (2010)
  • Author(s): Karim Bouyarmane
  • 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: 2010-09-23
• [Presentation] Static multi-contact inverse problem for multiple humanoid robots and manipulated objects (2010)
  • Author(s): K. Bouyarmane, A. Kheddar
  • Organizer: IEEE-RAS International Conference on Humanoid Robots
  • Place of Presentation: Nashville, TN
• [Presentation] Generation of dynamic multi-contact motions; 2D case studies (2010)
  • Author(s): S. Lengagne, P. Mathieu, A. Kheddar, E. Yoshida
  • Organizer: IEEE-RAS International Conference on Humanoid Robots
  • Place of Presentation: Nashville, TN, USA (Oral)
• [Presentation] Emulating human leg impairments and disabilities in walking with humanoid robots
  • Author(s): S. Lengagne, A. Kheddar, S. Druon, E. Yoshida
  • Organizer: IEEE International Conference on Robotics and Biomimetics (ROBIO)
  • Place of Presentation: Phuket, Thailand
• [Remarks]
  • URL: https://jrlserver.muse.aist.go.jp