Skip to Main content Skip to Navigation
Conference papers

Motion Optimization of Robots, Application to HRP-2

Sylvain Miossec 1 Sebastien Lengagne 2 Abderrahmane Kheddar 3 Kazuhito Yokoi 4
2 DEMAR - Artificial movement and gait restoration
CRISAM - Inria Sophia Antipolis - Méditerranée , LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
3 IDH - Interactive Digital Humans
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : This paper presents an implementation of motion optimization for robots. Functional optimization is converted to parameter optimization using B-splines. Many non-linear constraints are considered such as contacts stability, motors limitations and regularized collision avoidance. Semi-infinite constraints are simply solved by a fine enought discretization on a grid. Energy consumption is minimized. Motion optimization is solved with the IPOPT optimization package. For fast and reliable optimization convergence, gradients are computed. Joint friction is taken into account and regularized to obtain a smooth problem. Efficiency of the proposed software is demonstrated for three dynamic motions of the 30 degrees-of-freedom humanoid robot HRP-2: a kicking motion, a throwing motion and a lifting motion.
Document type :
Conference papers
Complete list of metadatas

Cited literature [3 references]  Display  Hide  Download

https://hal.archives-ouvertes.fr/hal-00836312
Contributor : Sylvain Miossec <>
Submitted on : Friday, June 21, 2013 - 2:36:37 PM
Last modification on : Wednesday, July 15, 2020 - 3:33:05 AM
Long-term archiving on: : Sunday, September 22, 2013 - 4:06:17 AM

Files

BFG09_miossec_hal.pdf
Files produced by the author(s)

Identifiers

  • HAL Id : hal-00836312, version 1

Citation

Sylvain Miossec, Sebastien Lengagne, Abderrahmane Kheddar, Kazuhito Yokoi. Motion Optimization of Robots, Application to HRP-2. BFG'09 - 14th Belgian-French-German Conference on Optimization, Sep 2009, Leuven, Belgium. ⟨hal-00836312⟩

Share

Metrics

Record views

433

Files downloads

148