Abstract
This paper outlines our research activities on motion planning and optimization for humanoid and their applications for human motion analysis and understanding. Starting research that applies geometric and kinematic motion planning technique to humanoid robots, we next explored their motion optimization. Although humanoid robots have an anthropomorphic shape and structure, we have first concentrated on dealing with them as robots with many degrees of freedom (DOFs). Studying humanoid robots started drawing more and more interest in human motions: what are their principles when a human make motions? We investigated optimization of walking paths and whole-body motions involving multiple contacts by using criteria and constraints taking into account some features of human motions. We recently focus on complementary investigation on digital human model and humanoid robotics in order to develop tools for product design by reproducing human behaviors, as well as humanoid robots that can work naturally in human environments.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Ayusawa, K., Yoshida, E.: Motion retargeting for humanoid robots based on simultaneous morphing parameter identification and motion optimization. IEEE Trans. Robot. 33(6), 1343–1357 (2017). https://doi.org/10.1109/TRO.2017.2752711
Bouyarmane, K., Kheddar, A.: Multi-contact stances planning for multiple agents. In: Proceedings of the 2011 IEEE International Conference Robotics and Automation, pp. 5246–5253 (2011)
Choset, H., Lynch, K., Hutchinson, S., Kantor, G., Burgard, W., Kavraki, L., Thrun, S.: Principles of Robot Motion: Theory, Algorithms, and Implementation. MIT Press, Cambridge (2006)
Defense Advanced Resaerch Projects Agency, “DARPA robotics challenge”. http://www.theroboticschallenge.org/ (2015)
Denny, J., Sandstrm, R., Julian, N., Amato, N.M.: A region-based strategy for collaborative roadmap construction. In: Akin, H.L., Amato, N.M., Isler, V., van der Stappen, A.F. (eds.) Algorithmic Foundations of Robotics XI, Springer Tracts in Advanced Robotics, pp. 125–141. Springer, Berlin (2014)
Devices for Nursing Care Project, R. http://robotcare.jp/ (2013)
Escande, A., Kheddar, A.: Multi-contact acyclic motion planning and experiments on HRP-2 humanoid. In: Harada, K., Yoshida, E., Yokoi, K. (eds.) Motion Planning for Humanoid Robots, pp. 161–179. Springer, Berlin (2010)
Esteves, C., Arechavaleta, G., Pettré, J., Laumond, J.P.: Animation planning for virtual characters cooperation. ACM Trans. Graph. 25(2), 319–339 (2006)
Fernando, C.L., Furukawa, M., Kurogi, T., Kamuro, S., Sato, K., Minamizawa, K., Tachi, S.: Design of TELESAR v for transferring bodily consciousness in telexistence. In: Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 5112–5118 (2012)
Gleicher, M.: Retargetting motion to new characters. In: Proceedings of the SIGGRAPH ’98, pp. 33–42 (1998)
Harada, K., Yoshida, E., Yokoi, K.: Motion Planning for Humanoid Robots. Springer, Berlin. http://www.springer.com/engineering/robotics/book/978-1-84996-219-3 (2010)
Kajita, S., Kanehiro, F., Kaneko, K., Fujiwara, K., Harada, K., Yokoi, K., Hirukawa, H.: Biped walking pattern generation by using preview control of zero-moment point. In: Proceedings of the 2003 IEEE International Conference on Robotics and Automation, pp. 1620–1626 (2003)
Kuffner, J., Kagami, S., Nishiwaki, K., Inaba, M., Inoue, H.: Dynamically-stable motion planning for humanoid robots. Auton. Robot. 12(1), 105–118 (2002)
Latombe, J.C.: Robot motion planning. Kluwer Academic Publishers, Boston (1991)
LaValle, S.: Planning Algorithm. Cambridge University Press, Cambridge (2006)
Lengagne, S., Vaillant, J., Yoshida, E., Kheddar, A.: Generation of whole-body optimal dynamic multi-contact motions. Int. J. Robot. Res. 32(9–10), 1104–1119 (2013). https://doi.org/10.1177/0278364913478990
Miura, K., Morisawa, M., Nakaoka, S., Harada, K., Kaneko, K., Kajita, S.: Robot Motion Remix based on Motion Capture Data - Towards Human-like Locomotion of Humanoid Robots . In: Proceedings of the 2009 IEEE-RAS International Conference on Humanoid Robots, pp. 596–603 (2009)
Miura, K., Yoshida, E., Kobayashi, Y., Endo, Y., Kanehiro, F., Homma, K., Kajitani, I., Matsumoto, Y., Tanaka, T.: Humanoid robot as an evaluator of assistive devices. In: Proceedings of the 2013 IEEE International Conference Robotics and Automation, pp. 671–677 (2013)
Mombaur, K., Laumond, J.P., Yoshida, E.: An optimal control-based formulation to determine natural locomotor paths for humanoid robots. Adv. Robot. 24(4), 515–535 (2010). https://doi.org/10.1163/016918610X487090
Mombaur, K., Truong, A., Laumond, J.P.: From human to humanoid locomotion - an inverse optimal control approach. Auton. Robot. 28, 369–383 (2010)
Nakaoka, S.: Choreonoid: extensible virtual robot environment built on an integrated gui framework. In: Proceedings of the 2012 IEEE/SICE International Symposium on System Integration, pp. 79–85 (2012)
Nakaoka, S., Nakazawa, A., Yokoi, K., Ikeuchi, K.: Leg motion primitives for a dancing humanoid robot. In: Proceedings of the IEEE International Conference on Robotics and Automation, pp. 610–615 (2004)
Siciliano, B., Slotine, J.J.E.: A general framework for managing multiple tasks in highly redundant robotic systems. In: Proceedings of the IEEE International Conference on Advanced Robotics, pp. 1211–1216 (1991)
Soueres, P., Laumond, J.P.: Shortest paths synthesis for a car-like robot. IEEE Trans. Autom. Control. 41(5), 672–688 (1996)
Tax, M., Flavign, D., Ferr, E.: Human interaction with motion planning algorithm. J. Intell. Robot. Syst., Springer 67(3–4), 285–306 (2012)
Wächter, A., Biegler, L.T.: On the implementation of a primal-dual interior point filter line search algorithm for large-scale nonlinear programming. Math. Program. 106, 22–57 (2006)
Yoshida, E., Esteves, C., Belousov, I., Laumond, J.P., Sakaguchi, T., Yokoi, K.: Planning 3D collision-free dynamic robotic motion through iterative reshaping. IEEE Trans. Robot. 24(5), 1186–1198 (2008). https://doi.org/10.1109/TRO.2008.2002312
Yoshida, E., Kanoun, O., Esteves, C., Laumond, J.P., Yokoi, K.: Task-driven support polygon reshaping for humanoids. In: Proceedings of 6th IEEE-RAS International Conference on Humanoid Robots, pp. 827–832 (2006)
Yoshida, E., Poirier, M., Laumond, J.P., Kanoun, O., Lamiraux, F., Alami, R., Yokoi, K.: Pivoting based manipulation by a humanoid robot. Auton. Robot. 28(1), 77–88. http://www.springerlink.com/content/d47r262762502912/ (2010). https://doi.org/10.1007/s10514-009-9143-x
Yoshiyasu, Y., Ayusawa, K., Yoshida, E., Matsumoto, Y., Endo, Y.: Forward dynamics simulation of human figures on assistive devices using geometric skin deformation model. In: Proceedings of the 37th IEEE Annual International Conference Engineering in Medicine and Biology Society, pp. 2442–2445 (2015)
Acknowledgements
This research has been partially supported by Japan Society for the Promotion of Science (JSPS) Grant-in-Aid for JSPS Fellows P13796 and for Scientific Research 22300071/25820082, and also by METI Robotic Devices for Nursing Care Project.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2020 Springer Nature Switzerland AG
About this paper
Cite this paper
Yoshida, E., Ayusawa, K., Yoshiyasu, Y., Escande, A., Kheddar, A. (2020). Toward a Human(oid) Motion Planner. In: Amato, N., Hager, G., Thomas, S., Torres-Torriti, M. (eds) Robotics Research. Springer Proceedings in Advanced Robotics, vol 10. Springer, Cham. https://doi.org/10.1007/978-3-030-28619-4_22
Download citation
DOI: https://doi.org/10.1007/978-3-030-28619-4_22
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-28618-7
Online ISBN: 978-3-030-28619-4
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)