Motion Planning with Multi-Contact and Visual Servoing on Humanoid Robots

Kevin Giraud--Esclasse (1) , Pierre Fernbach (1) , Gabriele Buondonno (1) , Carlos Mastalli (1) , Olivier Stasse (1)

1 LAAS-GEPETTO - Équipe Mouvement des Systèmes Anthropomorphes

This paper describes the implementation of a canonical motion generation pipeline guided by vision for a TALOS humanoid robot. The proposed system is using a mul-ticontact planner, a Differential Dynamic Programming (DDP) algorithm, and a stabilizer. The multicontact planner provides a set of contacts and dynamically consistent trajectories for the Center-Of-Mass (CoM) and the Center-Of-Pressure (CoP). It provides a structure to initialize a DDP algorithm which, in turn, provides a dynamically consistent trajectory for all the joints as it integrates all the dynamics of the robot, together with rigid contact models and the visual task. Tested on Gazebo the resulting trajectory had to be stabilized with a state-of-the-art algorithm to be successful. In addition to testing motion generated from high specifications to the stabilized motion in simulation, we express visual features at Whole Body Generator level which is a DDP formulated solver. It handles non-linearities as the ones introduced by the projections of visual features expressed and minimized in the image plan of the camera.

Domaines: Robotique [cs.RO]

Kevin Giraud--Esclasse, Pierre Fernbach, Gabriele Buondonno, Carlos Mastalli, Olivier Stasse. Motion Planning with Multi-Contact and Visual Servoing on Humanoid Robots. SII 2020 - International Symposium on System Integration, Jan 2020, Honolulu, United States. ⟨hal-02383130⟩