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Non-Gaited Humanoid Locomotion Planning

Non-Gaited Humanoid Locomotion Planning. Kris Hauser, Tim Bretl, and Jean-Claude Latombe Stanford University. What are humanoids capable of?. What are humanoids capable of?. What are humanoids capable of?. What are humanoids capable of?. Mom!. Navigating Difficult Terrain.

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Non-Gaited Humanoid Locomotion Planning

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  1. Non-Gaited Humanoid Locomotion Planning Kris Hauser, Tim Bretl, and Jean-Claude Latombe Stanford University

  2. What are humanoids capable of? Non-Gaited Humanoid Locomotion Planning

  3. What are humanoids capable of? Non-Gaited Humanoid Locomotion Planning

  4. What are humanoids capable of? Non-Gaited Humanoid Locomotion Planning

  5. What are humanoids capable of? Mom! Non-Gaited Humanoid Locomotion Planning

  6. Navigating Difficult Terrain • Each step different from previous! • Very uneven • Friction • Contacts with hands, knees, etc. • Obstacles Non-Gaited Humanoid Locomotion Planning

  7. Previous Work • “Footstep-search” planners • Set of candidate next-step moves • How many are needed? • What if you need more? Non-Gaited Humanoid Locomotion Planning

  8. LEMUR II Robot • Free-climbing robot on vertical terrain • Extend technique to HRP-2 Non-Gaited Humanoid Locomotion Planning

  9. Non-Gaited Planning • Do not require predefined motions • Single-step motions created automatically with Probabilistic Roadmap planner • Arbitrary-geometry robots • Arbitrary-geometry terrain • Any part of the body allowed for contact Non-Gaited Humanoid Locomotion Planning

  10. Applications • Autonomous navigation • More than just rough terrain! • Motion library generation • Robot design Non-Gaited Humanoid Locomotion Planning

  11. Non-Gaited Planner • Multi-Step Planning: Search for a sequence of steps that is likely to be feasible Non-Gaited Humanoid Locomotion Planning

  12. Single Step Stance A Transition Stance B Non-Gaited Humanoid Locomotion Planning

  13. Single Step Feasible Space Stance A Transition Stance B Non-Gaited Humanoid Locomotion Planning

  14. Single Step Feasible Space Stance A Transition Stance B Non-Gaited Humanoid Locomotion Planning

  15. Non-Gaited Planner • Multi-Step Planning: Search for a sequence of steps that is likely to be feasible • Random sampling Non-Gaited Humanoid Locomotion Planning

  16. Non-Gaited Planner • Multi-Step Planning : Search for a sequence of steps that is likely to be feasible • Random sampling • Sample feasible configurations faster • Iterative Constraint Enforcement (ICE) Non-Gaited Humanoid Locomotion Planning

  17. ICE Sampling Demo Non-Gaited Humanoid Locomotion Planning

  18. Non-Gaited Planner • Multi-Step Planning: Search for a sequence of steps that is likely to be feasible • Random sampling • Single-Step Planning: Plan a quasi-static motion along these steps • Probabilistic roadmap planner Non-Gaited Humanoid Locomotion Planning

  19. Planned Motions – Noise Terrain • 400 random candidate foot contacts • 1.5 hr multi-step • 10 min single-step Non-Gaited Humanoid Locomotion Planning

  20. Planned Motions – Noise Terrain 2 • 800 random candidate foot/hand contacts • 3 hr multi-step • 3 min single-step Non-Gaited Humanoid Locomotion Planning

  21. 0.4 m: 0.5 m: must use hands! Planned Motions – Steps Non-Gaited Humanoid Locomotion Planning

  22. Planned Motions - Ladder • 45 manually placed candidate contacts • 7 min multi-step • 3 hr single-step Non-Gaited Humanoid Locomotion Planning

  23. Future work • Determine infeasible steps quickly • Choice of candidate steps • Smoothness, safety, efficiency of paths • Experiment with physical HRP-2 Non-Gaited Humanoid Locomotion Planning

  24. Questions? Non-Gaited Humanoid Locomotion Planning

  25. Non-Gaited Humanoid Locomotion Planning

  26. Feasible Space Sampling • Contact • Equilibrium • Collision-free q2 q3 Contacts q1 qn Contact Submanifold Non-Gaited Humanoid Locomotion Planning

  27. Feasible Space Sampling • Contact • Equilibrium • Collision-free Center of Mass q2 q3 q1 qn Equilibrium constraint Support Polygon Non-Gaited Humanoid Locomotion Planning

  28. Feasible Space Sampling • Contact • Equilibrium • Collision-free q2 q3 q1 qn Equilibrium constraint Non-Gaited Humanoid Locomotion Planning

  29. Feasible Space Sampling • Contact • Equilibrium • Collision-free q2 Obstacle q3 q1 qn Non-Gaited Humanoid Locomotion Planning

  30. Feasible Space Sampling • Contact • Equilibrium • Collision-free q2 q3 q1 qn Non-Gaited Humanoid Locomotion Planning

  31. Feasible Space Sampling • Contact • Equilibrium • Collision-free Rejection rate is high! (often > 99.9%) q2 q3 q1 qn Non-Gaited Humanoid Locomotion Planning

  32. Iterative Constraint Enforcement • Numerical, iterative IK solver • Solves contact constraints q3 q1 q2 Non-Gaited Humanoid Locomotion Planning

  33. Iterative Constraint Enforcement • Numerical, iterative IK solver • Solves contact constraints • ICE: Incorporate equilibrium and collision constraints too q3 q1 q2 Non-Gaited Humanoid Locomotion Planning

  34. ICE vs. Direct Parameterization • Transition from 1  2 feet, flat ground Non-Gaited Humanoid Locomotion Planning

  35. ICE vs. Direct Parameterization • Transition from 1  2 feet, flat ground Non-Gaited Humanoid Locomotion Planning

  36. ICE vs. Direct Parameterization • Transition from 1  2 feet, flat ground Non-Gaited Humanoid Locomotion Planning

  37. ICE vs. Direct Parameterization • Transition from 1  2 feet, flat ground Non-Gaited Humanoid Locomotion Planning

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