Beyond multi-contact planning

• Project/Area Number: 25280096
• Research Category: Grant-in-Aid for Scientific Research (B)
• Allocation Type: Partial Multi-year Fund
• Section: 一般
• Research Field: Intelligent robotics
• Research Institution: National Institute of Advanced Industrial Science and Technology
• Principal Investigator: Kheddar Abderrahmane 国立研究開発法人産業技術総合研究所, 知能システム研究部門, 国際客員研究員 (90572082)
• Co-Investigator(Kenkyū-buntansha): KANEKO Kenji 国立研究開発法人産業技術総合研究所, 知能システム研究部門, 上級主任研究員 (10356800) ; YOSHIDA Eiichi 国立研究開発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 (30358329) ; KANEHIRO Fumio 国立研究開発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 (70356806)
• Project Period (FY): 2013-04-01 – 2016-03-31
• Project Status: Completed (Fiscal Year 2015)
• Budget Amount: ¥16,770,000 (Direct Cost: ¥12,900,000、Indirect Cost: ¥3,870,000); Fiscal Year 2015: ¥4,550,000 (Direct Cost: ¥3,500,000、Indirect Cost: ¥1,050,000); Fiscal Year 2014: ¥4,810,000 (Direct Cost: ¥3,700,000、Indirect Cost: ¥1,110,000); Fiscal Year 2013: ¥7,410,000 (Direct Cost: ¥5,700,000、Indirect Cost: ¥1,710,000)
• Keywords: デジタルヒューマンモデル / 多点接触計画 / ダイナミクス / 最適化 / 機械学習

Outline of Final Research Achievements

In this project we achieved noticeable advances in multi-contact planning as follows:
1) We focused our developments on new functionalities to multi-contact planning, 2) We focused on extending our multi-contact planning and control with a flavor of dynamics and added stabilization with an enhanced quadratic programming (QP) controller, 3) We focused on complex demonstrators such as the ladder climbing and car ingress and participated in the DARPA robotics challenge.

Research Products

• [Journal Article] GPU Robot Motion Planning Using Semi-Infinite Nonlinear Programming (2016)
  • Author(s): B. Chretien, A. Escande, A. Kheddar
  • Journal Title: IEEE Transactions on Parallel and Distributed Systems Volume: PP Issue: 10 Pages: 14-14
  • DOI: 10.1109/tpds.2016.2521373
  • Peer Reviewed / Int'l Joint Research / Acknowledgement Compliant
• [Journal Article] Multi-contact vertical ladder climbing with an HRP-2 humanoid (2016)
  • Author(s): Joris Vaillant, Abderrahmane Kheddar, Herve Audren, Francois Keith, Stanislas Brossette, Adrien Escande, Karim Bouyarman, Kenji Kaneko, Mitsuharu Morisawa, Pierre Gergondet, Eiichi Yoshida, Suuji Kajita, Fumio Kanehiro
  • Journal Title: Autonomous Robots Volume: 40-3 Issue: 3 Pages: 561-580
  • DOI: 10.1007/s10514-016-9546-4
  • Peer Reviewed / Int'l Joint Research
• [Journal Article] Multi-character physical and behavioural interactions controller (2016)
  • Author(s): J. Vaillant, K. Bouyarmane, A. Kheddar
  • Journal Title: IEEE Transactions on Visualization and Computer Graphics Volume: PP Issue: 6 Pages: 13-13
  • DOI: 10.1109/tvcg.2016.2542067
  • Peer Reviewed / Open Access / Int'l Joint Research
• [Journal Article] Vertical ladder climbing by the HRP-2 humanoid robot (2014)
  • Author(s): J. Vaillant, A. Kheddar, H. Audren, F. Keith, K. Kaneko, M. Morisawa, E. Yoshida, F. Kanehiro
  • Journal Title: Proceedings of IEEE-RAS International Conference on Humanoid Robots Volume: 1 Pages: 671-676
  • DOI: 10.1109/humanoids.2014.7041435
  • Peer Reviewed / Acknowledgement Compliant
• [Journal Article] Toward autonomous car driving by a humanoid robot-- A sensor-based framework (2014)
  • Author(s): A. Paolillo, A. Cherubini, F. Keith, A. Kheddar, M. Vindetelli
  • Journal Title: Proceedings of IEEE-RAS International Conference on Humanoid Robots Volume: 1 Pages: 451-456
  • DOI: 10.1109/humanoids.2014.7041400
• [Journal Article] Point-Cloud Multi-Contact Planning for Humanoids (2013)
  • Author(s): S. Brossette, J. Vaillant, F. Keith, A. Escande and A. Kheddar
  • Journal Title: Proceedings of IEEE Conference on Robotics, Automation and Mechatronics (RAM) Volume: 1 Pages: 19-24
  • DOI: 10.1109/ram.2013.6758553
  • Peer Reviewed
• [Presentation] Adaptation of walking ground reaction forces to abrupt changes in ground stiffness properties (2016)
  • Author(s): A. Pajon, E. Mechiori, C. Monaghan, M. Giese, S. Miossec, A. Kheddar
  • Organizer: IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob)
  • Place of Presentation: Singapore
  • Year and Date: 2016-06-26
  • Int'l Joint Research
• [Presentation] Parametrization of Catmull-Clark subdivision surfaces for posture generation (2016)
  • Author(s): A. Escande, S. Brossette, A. Kheddar
  • Organizer: IEEE International Conference on Robotics and Automation
  • Place of Presentation: Stockholm, Sweden
  • Year and Date: 2016-05-16
  • Int'l Joint Research
• [Presentation] Humanoid posture generation on non-Euclidian manifolds (2015)
  • Author(s): S. Brossette, A. Escande, G. Duchemin, B. Chrétien, A. Kheddar
  • Organizer: IEEE/RAS International Conference on Humanoid Robots
  • Place of Presentation: Seoul, Korea
  • Year and Date: 2015-11-03
  • Int'l Joint Research
• [Presentation] Continuously satisfying constraints with contact forces in trajectory optimization for humanoid robots (2015)
  • Author(s): B. Chretien, A. Escande, A. Kheddar
  • Organizer: IEEE/RSJ International Conference on Intelligent Robots and Systems
  • Place of Presentation: Hamburg, Germany
  • Year and Date: 2015-09-28
  • Int'l Joint Research
• [Presentation] GPU-based robot dynamics simulator for semi-infinite nonlinear optimization (2015)
  • Author(s): B. Chretien, A. Escande, A. Kheddar
  • Organizer: Proceedings of International Conference on High Performance Scientific Computing (HPSC) Modeling
  • Place of Presentation: Hanoi, Vietnam
  • Year and Date: 2015-03-20
• [Book] ロボット制御学ハンドブック (分担執筆) ヒューマノイド 多点接触動作計画・制御 (2016)
  • Author(s): Abderrahmane Kheddar
  • Total Pages: 200
  • Publisher: 近代科学者