non-gaited humanoid locomotion planning
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Non-Gaited Humanoid Locomotion Planning
Kris Hauser, Tim Bretl, and Jean-Claude Latombe
Stanford University
Non-Gaited Humanoid Locomotion Planning Kris Hauser
What are humanoids capable of?
Non-Gaited Humanoid Locomotion Planning Kris Hauser
What are humanoids capable of?
Non-Gaited Humanoid Locomotion Planning Kris Hauser
What are humanoids capable of?
Non-Gaited Humanoid Locomotion Planning Kris Hauser
What are humanoids capable of?
Mom!
Non-Gaited Humanoid Locomotion Planning Kris Hauser
Navigating Difficult Terrain Each step different from previous! Very uneven Friction Contacts with hands, knees, etc. Obstacles
Non-Gaited Humanoid Locomotion Planning Kris Hauser
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 Kris Hauser
LEMUR II Robot Free-climbing robot on vertical terrain Extend technique to HRP-2
Non-Gaited Humanoid Locomotion Planning Kris Hauser
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 Kris Hauser
Applications Autonomous navigation
More than just rough terrain! Motion library generation Robot design
Non-Gaited Humanoid Locomotion Planning Kris Hauser
Non-Gaited Planner Multi-Step Planning: Search for a sequence
of steps that is likely to be feasible
Non-Gaited Humanoid Locomotion Planning Kris Hauser
Single StepStance A Stance BTransition
Non-Gaited Humanoid Locomotion Planning Kris Hauser
Single Step Feasible SpaceStance A Stance BTransition
Non-Gaited Humanoid Locomotion Planning Kris Hauser
Single Step Feasible SpaceStance A Stance BTransition
Non-Gaited Humanoid Locomotion Planning Kris Hauser
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 Kris Hauser
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 Kris Hauser
ICE Sampling Demo
Non-Gaited Humanoid Locomotion Planning Kris Hauser
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 Kris Hauser
Planned Motions – Noise Terrain 400 random
candidate foot contacts
1.5 hr multi-step 10 min single-step
Non-Gaited Humanoid Locomotion Planning Kris Hauser
Planned Motions – Noise Terrain 2 800 random
candidate foot/hand contacts
3 hr multi-step 3 min single-step
Non-Gaited Humanoid Locomotion Planning Kris Hauser
Planned Motions – Steps 0.4 m: 0.5 m: must use hands!
Non-Gaited Humanoid Locomotion Planning Kris Hauser
Planned Motions - Ladder 45 manually placed
candidate contacts 7 min multi-step 3 hr single-step
Non-Gaited Humanoid Locomotion Planning Kris Hauser
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 Kris Hauser
Questions?
Non-Gaited Humanoid Locomotion Planning Kris Hauser
Non-Gaited Humanoid Locomotion Planning Kris Hauser
Feasible Space Sampling Contact Equilibrium Collision-free
Contacts
q1
qn
q2
q3
Contact Submanifold
Non-Gaited Humanoid Locomotion Planning Kris Hauser
Feasible Space Sampling Contact Equilibrium Collision-free
Support Polygonqn
q2
q3
Equilibrium constraint
Center of Mass
q1
Non-Gaited Humanoid Locomotion Planning Kris Hauser
Feasible Space Sampling Contact Equilibrium Collision-free
qn
q2
q3
Equilibrium constraint
q1
Non-Gaited Humanoid Locomotion Planning Kris Hauser
Feasible Space Sampling Contact Equilibrium Collision-free
Obstacle
qn
q2
q3
q1
Non-Gaited Humanoid Locomotion Planning Kris Hauser
Feasible Space Sampling Contact Equilibrium Collision-free
qn
q2
q3
q1
Non-Gaited Humanoid Locomotion Planning Kris Hauser
Feasible Space Sampling Contact Equilibrium Collision-free
qn
q2
q3
q1
Rejection rate is high!
(often > 99.9%)
Non-Gaited Humanoid Locomotion Planning Kris Hauser
Iterative Constraint Enforcement Numerical,
iterative IK solver Solves contact
constraints
q1
q2
q3
Non-Gaited Humanoid Locomotion Planning Kris Hauser
Iterative Constraint Enforcement Numerical,
iterative IK solver Solves contact
constraints ICE: Incorporate
equilibrium and collision constraints too q1
q2
q3
Non-Gaited Humanoid Locomotion Planning Kris Hauser
ICE vs. Direct Parameterization Transition from 1 2 feet, flat ground
Non-Gaited Humanoid Locomotion Planning Kris Hauser
ICE vs. Direct Parameterization Transition from 1 2 feet, flat ground
DP ICE
ms / sample 0.83 69
% successful 0.02 26
ms / successful 4,150 265
Non-Gaited Humanoid Locomotion Planning Kris Hauser
ICE vs. Direct Parameterization Transition from 1 2 feet, flat ground
DP ICE
ms / sample 0.83 69
% successful 0.02 26
ms / successful 4,150 265
Non-Gaited Humanoid Locomotion Planning Kris Hauser
ICE vs. Direct Parameterization Transition from 1 2 feet, flat ground
DP ICE
ms / sample 0.83 69
% successful 0.02 26
ms / successful 4,150 265
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