TY - GEN
T1 - Fast trajectory planning of reactive operation considering manipulability for a humanoid
AU - Liu, Yan
AU - Li, Jing
AU - Yu, Zhangguo
AU - Zhang, Wen
AU - Huang, Qiang
AU - Chen, Xuechao
AU - Ma, Gan
AU - Meng, Libo
AU - Zhang, Si
AU - Meng, Fei
AU - Zhang, Weimin
AU - Gao, Junyao
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2015/3/2
Y1 - 2015/3/2
N2 - For humanoid robots, there exist a class of challenging tasks, e.g. playing table tennis, which are non-repeatedly, triggered randomly by sensor events, and compelling the robots to produce reactive operations in very short time. Additionally, some key poses of the robot are partially constrained to accomplish the operations, and are usually adjusted during the operation execution. In this paper, efforts are made to generate trajectory for these operations. Firstly, an extended manipulability index is proposed to optimize the key poses so that the humanoid robot has the manipulability considering joint limits at the key poses, which makes it convenient to adjust the trajectory. Secondly, a fast approach to generating the whole trajectory consisting of all the key poses and the strategies to realize the trajectory adjustment when specifications change are proposed. Finally, the ZMP (Zero Moment Point) displacement excited by the reactive operations is also given to decide whether the generated trajectory is feasible. The effectiveness of the method is demonstrated through simulations.
AB - For humanoid robots, there exist a class of challenging tasks, e.g. playing table tennis, which are non-repeatedly, triggered randomly by sensor events, and compelling the robots to produce reactive operations in very short time. Additionally, some key poses of the robot are partially constrained to accomplish the operations, and are usually adjusted during the operation execution. In this paper, efforts are made to generate trajectory for these operations. Firstly, an extended manipulability index is proposed to optimize the key poses so that the humanoid robot has the manipulability considering joint limits at the key poses, which makes it convenient to adjust the trajectory. Secondly, a fast approach to generating the whole trajectory consisting of all the key poses and the strategies to realize the trajectory adjustment when specifications change are proposed. Finally, the ZMP (Zero Moment Point) displacement excited by the reactive operations is also given to decide whether the generated trajectory is feasible. The effectiveness of the method is demonstrated through simulations.
KW - Humanoid robot
KW - Manipulability
KW - Reactive operation
KW - Trajectory planning
UR - http://www.scopus.com/inward/record.url?scp=84932098367&partnerID=8YFLogxK
U2 - 10.1109/WCICA.2014.7053772
DO - 10.1109/WCICA.2014.7053772
M3 - Conference contribution
AN - SCOPUS:84932098367
T3 - Proceedings of the World Congress on Intelligent Control and Automation (WCICA)
SP - 6139
EP - 6144
BT - Proceeding of the 11th World Congress on Intelligent Control and Automation, WCICA 2014
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 11th World Congress on Intelligent Control and Automation, WCICA 2014
Y2 - 29 June 2014 through 4 July 2014
ER -