DocumentCode :
2598170
Title :
RHO humanoid robot bipedal locomotion and navigation using Lie groups and geometric algorithms
Author :
Pardos, Jose M. ; Balaguer, Carlos
Author_Institution :
Dept. of Syst. Eng. & Autom., Univ. Carlos III of Madrid, Spain
fYear :
2005
fDate :
2-6 Aug. 2005
Firstpage :
3081
Lastpage :
3086
Abstract :
The humanoid bipedal locomotion requires computationally efficient solutions of the navigation and inverse kinematics problems. This paper presents analytic methods, using tools from computational geometry and techniques from the theory of Lie groups, to develop new geometric algorithms for the navigation path planning, locomotion movement, and kinematics modeling of humanoid robots. To solve the global navigation problem, we introduce the new fast marching method modified (FM3) algorithm, based on the fast marching methods (FMM) used to study interface motion, that gives a close-form solution for the humanoid collision-free whole body trajectory (WBT) calculation. For the bipedal locomotion, we build the new geometric algorithm one step to goal (OSG), to produce a general solution for the body and footstep planning which make the humanoid to move a single step towards a defined objective. We develop the new approach called sagittal kinematics division (SKD), for the humanoid modeling analysis, to allow us to solve the humanoid inverse kinematics problem using the mathematical techniques of Lie groups, like the product of exponentials (POE). The works are presented along with computed examples of the humanoid robot RHO at the University Carlos III of Madrid. We remark that this paper introduces only closed-form solutions, numerically stable and geometrically meaningful, suitable for real-time applications.
Keywords :
Lie groups; computational geometry; humanoid robots; legged locomotion; path planning; position control; robot kinematics; Lie group; RHO humanoid robot bipedal locomotion; computational geometry; fast marching; footstep planning; global navigation problem; humanoid collision-free whole body trajectory; humanoid inverse kinematics problem; humanoid modeling analysis; kinematics modeling; navigation path planning; product of exponentials; sagittal kinematics division; Algorithm design and analysis; Biological system modeling; Computational geometry; Humanoid robots; Kinematics; Mathematical model; Motion planning; Navigation; Path planning; Solid modeling; Bipedal Locomotion; Fast Marching Methods; Humanoid Kinematics; Humanoid Navigation; Lie Groups; Product of Exponentials;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems, 2005. (IROS 2005). 2005 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-8912-3
Type :
conf
DOI :
10.1109/IROS.2005.1545288
Filename :
1545288
Link To Document :
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