On Humanoid Motion Optimization

Wael Suleiman (1) , Eiichi Yoshida (2) , Jean-Paul Laumond (3) , André Monin (1)

1 LAAS-MRS
2 AIST - National Institute of Advanced Industrial Science and Technology
3 LAAS-GEPETTO - Équipe Mouvement des Systèmes Anthropomorphes

In this paper, we present a recursive method for the optimization of humanoid robot motions. The method is based on an efficient dynamics algorithm, which allows the calculation of the gradient function with respect to the control parameters analytically. The algorithm makes use of the theory of Lie groups and Lie algebra. The main objective of this method is to smooth the pre-calculated humanoid motions by minimizing the efforts, and at the same time improving the stability of the humanoid robot during the execution of the planned tasks. Experimental results using HRP-2 platform are provided to validate the proposed method.

Mots clés: Humanoid; Motion planning; Recursive dynamics; Optimization

Domaines: Automatique / Robotique; Traitement du signal et de l'image [eess.SP]; Traitement du signal et de l'image [eess.SP]

Wael Suleiman, Eiichi Yoshida, Jean-Paul Laumond, André Monin. On Humanoid Motion Optimization. IEEE-RAS 7th International Conference on Humanoid Robots, Nov 2007, Pittsburgh, Pennsylvania, United States. pp.CD ROM. ⟨hal-00164004v3⟩