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

2012 Fiscal Year Final Research Report

• 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
• Keywords: アニメーション / ディジタルヒューマン / 接触動作計画

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
  • DOI: 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 Pages: 1099-1126
  • DOI: 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 Pages: 428-442
  • DOI: DOI:10.1016/j.robot.2013.01.008
  • 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
  • Year and Date: 20121129-1201
• [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
  • Year and Date: 20121129-1201
• [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
  • Year and Date: 20121007-12
• [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
  • Year and Date: 20111026-28
• [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
  • Year and Date: 20110925-30
• [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
  • Year and Date: 20110509-13
• [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
  • Year and Date: 20101206-08
• [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)
  • Year and Date: 20101206-08
• [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
  • Year and Date: 00001207-11
• [Remarks]
  • URL: https://jrlserver.muse.aist.go.jp