Motion adaptation for humanoid robots in constrained environments

Shu Lim HO, Hubert P.H. Shum

Research output: Chapter in book/report/conference proceedingConference proceedingpeer-review

18 Citations (Scopus)

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.

Original languageEnglish
Title of host publication2013 IEEE International Conference on Robotics and Automation, ICRA 2013
Pages3813-3818
Number of pages6
DOIs
Publication statusPublished - 2013
Event2013 IEEE International Conference on Robotics and Automation, ICRA 2013 - Karlsruhe, Germany
Duration: 6 May 201310 May 2013

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Conference

Conference2013 IEEE International Conference on Robotics and Automation, ICRA 2013
Country/TerritoryGermany
CityKarlsruhe
Period6/05/1310/05/13

Scopus Subject Areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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