Title :
Using a multi-objective controller to synthesize simulated humanoid robot motion with changing contact configurations
Author :
Bouyarmane, Karim ; Kheddar, Abderrahmane
Author_Institution :
Joint Robot. Lab., AIST, Tsukuba, Japan
Abstract :
Our objective in this work is to synthesize dynamically consistent motion for a simulated humanoid robot in acyclic multi-contact locomotion using multi-objective control. We take as an input a planned sequence of static postures that represent the contact configuration transitions; a multi-objective controller then synthesizes the motion between these postures, the objectives of the controller being decided by a finite-state machine. Results of this approach are presented in the attached video in the form of playback motions generated through non-real-time constraint-based dynamic simulations.
Keywords :
finite state machines; humanoid robots; motion control; acyclic multicontact locomotion; changing contact configuration; contact configuration transition; finite state machine; multiobjective controller; nonreal-time constraint-based dynamic simulation; simulated humanoid robot motion; static postures; Collision avoidance; Humanoid robots; Joints; Legged locomotion; TV; Vectors;
Conference_Titel :
Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on
Conference_Location :
San Francisco, CA
Print_ISBN :
978-1-61284-454-1
DOI :
10.1109/IROS.2011.6094483