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Using Motion Primitives in Probabilistic Sample-Based Planning for Humanoid Robots [chapter]

Kris Hauser, Timothy Bretl, Kensuke Harada, Jean-Claude Latombe
Springer Tracts in Advanced Robotics  
But rather than restrict motion to these primitives, it uses them to derive a sampling strategy for a probabilistic, sample-based planner.  ...  This paper presents a method of computing efficient and natural-looking motions for humanoid robots walking on varied terrain.  ...  Probabilistic, sample-based algorithms are used to find both transitions and paths.  ... 
doi:10.1007/978-3-540-68405-3_32 fatcat:7hxrtzgu4jchhbj75mc6zcfbj4

Motion primitive based random planning for loco-manipulation tasks

Alessandro Settimi, Danilo Caporale, Przemyslaw Kryczka, Mirko Ferrati, Lucia Pallottino
2016 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids)  
In this work we consider the problem of loco-manipulation planning for a robot with given parametrized control laws known as primitives.  ...  Several advanced control laws are available for complex robotic systems such as humanoid robots and mobile manipulators. Controls are usually developed for locomotion or for manipulation purposes.  ...  Authors would like to thank Corrado Pavan for his contribution in P-Search * . Finally, authors would like to thank Federico Spinelli for his help in the perception part.  ... 
doi:10.1109/humanoids.2016.7803402 dblp:conf/humanoids/SettimiCKFP16 fatcat:bklnfk67bnaktc362iiyxz3mzi

Natural Motion Generation for Humanoid Robots

Kensuke Harada, Kris Hauser, Tim Bretl, Jean-claude Latombe
2006 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems  
The primitives are precomputed off-line, but might be used by on-line planner either to provide a fixed set of maneuvers or to bias a probabilistic, sample-based search for motions.  ...  This paper presents a method of generating natural-looking motion primitives for humanoid robots.  ...  For example, Fig. 8 shows a climbing motion of the robot (similar to the primitive we used to plan the ladderclimb in Section I).  ... 
doi:10.1109/iros.2006.281733 dblp:conf/iros/HaradaHBL06 fatcat:yklfi4ge2narpkefocmqglojvy

Toward Interactive Reaching in Static Environments for Humanoid Robots

Evan Drumwright, Victor Ng-Thow-Hing
2006 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems  
Reaching is a critical task for humanoid robots, requiring the application of state-of-the-art algorithms for motion planning and inverse kinematics.  ...  We present a resolution complete solution to the reaching problem for humanoid robots in static environments, and evaluate it against two other methods using a kinematically simulated humanoid in a virtual  ...  Sample-based algorithms have proven to be successful in solving motion-planning problems within humanoid robotics [14] , [15] .  ... 
doi:10.1109/iros.2006.281735 dblp:conf/iros/DrumwrightN06 fatcat:d7l3htcybvbfpiqrtq3f4l2yfq

Whole-body motion planning for humanoid robots with heuristic search

Ali Athar, Abdul Moeed Zafar, Rizwan Asif, Armaghan Ahmad Khan, Fahad Islam, Osman Hasan
2016 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  
In this paper, we present a heuristic searchbased motion planning framework for humanoid robots that circumvents the drawbacks traditionally associated with searchbased planners while catering to the specific  ...  More commonly though, sampling-based algorithms are employed for this task since they perform admirably well in high-dimensional spaces.  ...  Sampling-based algorithms have been extensively used for motion planning of humanoids and other types of high-DOF robots due to the advantages they offer.  ... 
doi:10.1109/iros.2016.7759694 dblp:conf/iros/AtharZAKIAH16 fatcat:qqj6sszzbvgr5azkuxgpgeljda

Advances in Robot Programming by Demonstration

Rüdiger Dillmann, Tamim Asfour, Martin Do, Rainer Jäkel, Alexander Kasper, Pedram Azad, Aleš Ude, Sven R. Schmidt-Rohr, Martin Lösch
2010 Künstliche Intelligenz  
Robot Programming by Demonstration (PbD) has been dealt with in the literature as a promising way to teach robots new skills in an intuitive way.  ...  In this paper we describe our current work in the field toward the implementation of PbD system which allows robots to learn continuously from human observation, build generalized representations of human  ...  The complete process is shown in Fig. 5 . In the execution environment, probabilistic motion planning is used to generate grasping motions for the robot system based on the learned variation model.  ... 
doi:10.1007/s13218-010-0060-0 fatcat:qru3tgqdmfcktop4tuza4ql6jy

Collision-Free Humanoid Reaching: Past, Present and Future [chapter]

Evan Drumwright, Maja Mataric
2007 Humanoid Robots: New Developments  
et al., 1995) -researchers in humanoid robotics have made few forays into these domains.  ...  This concentration is certainly important, but one of the great promises of humanoid robots is their potential for effective interaction with human environments through manipulation.  ...  Section 4.1.2 introduces sample-based motion planning, a paradigm for circumventing the intractability of motion planning; the following section discusses the extension of a popular sample-based motion  ... 
doi:10.5772/4868 fatcat:eefdxb5ejrettmf67lyzzdwvue

Planning Whole-body Humanoid Locomotion, Reaching, and Manipulation [chapter]

Eiichi Yoshida, Claudia Esteves, Oussama Kanoun, Mathieu Poirier, Anthony Mallet, Jean-Paul Laumond, Kazuhito Yokoi
2010 Motion Planning for Humanoid Robots  
The presented approach benefits from two cutting edges of recent advancement in robotics: powerful probabilistic geometric and kinematic motion planning and advanced dynamic motion control for humanoids  ...  In this article we address the planning problem of whole-body motions by humanoid robots.  ...  Basic motion planning methods For complex robotic systems like humanoid robots, it is reasonable to employ efficient algorithms based on probabilistic planning methods such as diffusing methods like Rapidly-exploring  ... 
doi:10.1007/978-1-84996-220-9_4 fatcat:4kpvis5dkvbwvbfdlh6ywqx7nu

Comparing motion generation and motion recall for everyday mobile manipulation tasks

Carmen Lopera, Hilario Tome, Adolfo Rodriguez Tsouroukdissian, Freek Stulp
2012 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems  
We believe this generality is one of the main reasons for the popularity of sampling-based motion planning in stateof-the-art mobile manipulation.  ...  • How do optimization principles in sampling-based motion planning [7] influence the variability of the motion plans they generate?  ... 
doi:10.1109/iros.2012.6386274 dblp:conf/iros/LoperaTTS12 fatcat:7nabnz7ydzb6zdlijovno6ol7m

Motion capture in robotics review

Matthew Field, David Stirling, Fazel Naghdy, Zengxi Pan
2009 2009 IEEE International Conference on Control and Automation  
Various sensor systems used in current literature are introduced and evaluated based on the relative strengths and weaknesses.  ...  This survey reviews motion capture technologies and the current challenges associated with their application in robotic systems.  ...  Humanoid Design Motion capture measurements are an important resource for humanoid interactions and learning. Observations of human actions are a major influence in humanoid robot designs.  ... 
doi:10.1109/icca.2009.5410185 fatcat:jxuovmweyjb4tgy5tlofbcjymi

Adaptive level-of-detail planning for efficient humanoid navigation

Armin Hornung, Maren Bennewitz
2012 2012 IEEE International Conference on Robotics and Automation  
In this paper, we consider the problem of efficient path planning for humanoid robots by combining grid-based 2D planning with footstep planning.  ...  Our method computes a global solution by adaptively switching between fast grid-based planning in open spaces and footstep planning in the vicinity of obstacles.  ...  ., slope, stairs, or flat ground), they use a local planner based on motion primitives defined for that region.  ... 
doi:10.1109/icra.2012.6224898 dblp:conf/icra/HornungB12 fatcat:vinpiqxnqnguffrceyc4w2trnm

Humanoid manipulation planning using backward-forward search

Michael X. Grey, Caelan R. Garrett, C. Karen Liu, Aaron D. Ames, Andrea L. Thomaz
2016 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  
Our system utilizes the hybrid backward-forward planning algorithm for high-level task planning combined with humanoid primitives for standing and walking motion planning.  ...  This paper explores combining task and manipulation planning for humanoid robots.  ...  Finally, many standard mobile manipulators use a holonomic, wheeled base while humanoid robots are bipedal, requiring footstep planning.  ... 
doi:10.1109/iros.2016.7759804 dblp:conf/iros/GreyGLAT16 fatcat:bmd3vpsnsjhgfiqt7v4ystowdy

Humanoid navigation with dynamic footstep plans

Johannes Garimort, Armin Hornung, Maren Bennewitz
2011 2011 IEEE International Conference on Robotics and Automation  
In this paper, we present an approach to optimal footstep planning for humanoid robots.  ...  Since changes in the environment may appear and a humanoid may deviate from its originally planned path due to imprecise motion execution or slippage on the ground, the robot might be forced to dynamically  ...  [14] presented planning methods for humanoids that are based on different motion primitives.  ... 
doi:10.1109/icra.2011.5979656 dblp:conf/icra/GarimortHB11 fatcat:jbroqwvwyvb4hgj6mkdagbtmm4

Robot Motion Planning in Learned Latent Spaces [article]

Brian Ichter, Marco Pavone
2018 arXiv   pre-print
In this paper we combine these recent advances with techniques from sampling-based motion planning (SBMP) in order to design a methodology capable of planning for high-dimensional robotic systems beyond  ...  This paper presents Latent Sampling-based Motion Planning (L-SBMP), a methodology towards computing motion plans for complex robotic systems by learning a plannable latent representation.  ...  ACKNOWLEDGMENTS The authors wish to thank Edward Schmerling and Anirudha Majumdar for their helpful discussions on this work.  ... 
arXiv:1807.10366v2 fatcat:r26v3snl45edpfmy3wr6km3zhm

Anytime Whole-Body Planning/Replanning for Humanoid Robots

Paolo Ferrari, Marco Cogneni, Giuseppe Oriolo
2018 2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)  
In this paper we propose an anytime planning/replanning algorithm aimed at generating motions allowing a humanoid to fulfill an assigned task that implicitly requires stepping.  ...  The proposed method has been implemented in V-REP for the NAO humanoid and successfully tested in various scenarios of increasing complexity.  ...  Other works ( [13] , [14] ) propose anytime versions of sampling-based algorithms, particularly suited for planning in high-dimensional, non-uniform cost spaces.  ... 
doi:10.1109/humanoids.2018.8624935 dblp:conf/humanoids/FerrariCO18 fatcat:b7tsoskumvg3dmei7sdjw43m24
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