Motion Adaptation for Humanoid Robots in Constrained Environments

Edmond S. L. Ho and Hubert P. H. Shum
Proceedings of the 2013 IEEE International Conference on Robotics and Automation (ICRA), 2013

Core A* Conference H5-Index: 119# Core A* Conference Citation: 25#

Motion Adaptation for Humanoid Robots in Constrained Environments
‡ According to Core Ranking 2023"
# According to Google Scholar 2023"

Abstract

This paper presents a new method to synthesize full body motion for controlling humanoid robots in highly constrained environments. Given a reference motion of the robot and the corresponding environment configuration, the spatial relationships between the robot body parts and the environment objects are extracted as a representation called the Interaction Mesh. Such a representation is then used in adapting the reference motion to an altered environment. By preserving the spatial relationships while satisfying physical constraints, collision-free and well balanced motions can be generated automatically and efficiently. Experimental results show that the proposed method can adapt different full body motions in significantly modified environments. Our method can be applied in precise robotic controls under complicated environments, such as rescue robots in accident scenes and searching robots in highly constrained spaces.

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BibTeX

@inproceedings{ho13motion,
 author={Ho, Edmond S. L. and Shum, Hubert P. H.},
 booktitle={Proceedings of the 2013 IEEE International Conference on Robotics and Automation},
 series={ICRA '13},
 title={Motion Adaptation for Humanoid Robots in Constrained Environments},
 year={2013},
 month={5},
 pages={3813--3818},
 numpages={6},
 doi={10.1109/ICRA.2013.6631113},
 issn={1050-4729},
 isbn={978-1-4673-5641-1},
 publisher={IEEE},
 location={Karlsruhe},
}

RIS

TY  - CONF
AU  - Ho, Edmond S. L.
AU  - Shum, Hubert P. H.
T2  - Proceedings of the 2013 IEEE International Conference on Robotics and Automation
TI  - Motion Adaptation for Humanoid Robots in Constrained Environments
PY  - 2013
Y1  - 5 2013
SP  - 3813
EP  - 3818
DO  - 10.1109/ICRA.2013.6631113
SN  - 1050-4729
PB  - IEEE
ER  - 

Plain Text

Edmond S. L. Ho and Hubert P. H. Shum, "Motion Adaptation for Humanoid Robots in Constrained Environments," in ICRA '13: Proceedings of the 2013 IEEE International Conference on Robotics and Automation, pp. 3813-3818, Karlsruhe, IEEE, May 2013.

Supporting Grants

Similar Research

Edmond S. L. Ho, Hubert P. H. Shum, Yiu-ming Cheung and P. C. Yuen, "Topology Aware Data-Driven Inverse Kinematics", Computer Graphics Forum (CGF) - Proceedings of the 2013 Pacific Conference on Computer Graphics and Applications (PG), 2013
Luca Crosato, Hubert P. H. Shum, Edmond S. L. Ho and Chongfeng Wei, "Interaction-Aware Decision-Making for Automated Vehicles using Social Value Orientation", IEEE Transactions on Intelligent Vehicles (TIV), 2023

 

 

Last updated on 25 March 2024
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