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Planning and fast replanning of safe motions for humanoid robots: Application to a kicking motion
 In IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS
, 2009
"... AbstractOptimal motions are usually used as joint reference trajectories for repetitive or complex motions. In the case of soccer robots, the kicking motion is usually a benchmark motion, computed offline, without taking into account the current position of the robot or the direction of the goal. ..."
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AbstractOptimal motions are usually used as joint reference trajectories for repetitive or complex motions. In the case of soccer robots, the kicking motion is usually a benchmark motion, computed offline, without taking into account the current position of the robot or the direction of the goal. Moreover, robots must react quickly to any situation, even if not expected, and cannot spend time to generate a new optimal motion by the classical way. Therefore, we propose a new method for fast motion replanning based on an offline computation of a feasible subset of the motion parameters, using Interval Analysis.
Safe motion planning computation for databasing balanced movement of humanoid robots
 in ICRA 2009
"... Abstract — Motion databasing is an important topic in robotics research. Humanoid robots have a large number of degrees of freedom and their motions have to satisfy a set of constraints (balance, maximal joint torque velocity and angle values). Thus motion planning cannot efficiently be done online. ..."
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Abstract — Motion databasing is an important topic in robotics research. Humanoid robots have a large number of degrees of freedom and their motions have to satisfy a set of constraints (balance, maximal joint torque velocity and angle values). Thus motion planning cannot efficiently be done online. The computation of optimal motions is performed offline to create databases that transform the problem of large computation time into a problem of large memory space. Motion planning can be seen as a SemiInfinite Programming problem (SIP) since it involves a finite number of variables over an infinite set of constraints. Most methods solve the SIP problem by transforming it into a finite programming one using a discretization over a prescribed grid. We show that this approach is risky because it can lead to motions which may violate one or several constraints. Then we introduce our new method for planning safe motions. It uses Interval Analysis techniques in order to achieve a safe discretization of the constraints. We show how to implement this method and use it with stateoftheart constrained optimization packages. Then, we illustrate its capabilities for planning safe motions dedicated to the HOAP3 humanoid robot.
ON A REDUCTION LINE SEARCH FILTER METHOD FOR NONLINEAR SEMIINFINITE PROGRAMMING PROBLEMS
"... In this paper, a reductiontype method combined with a line search filter method to solve nonlinear semiinfinite programming problems is presented. The algorithm uses the simulated annealing method equipped with a function stretching technique to compute the maximizers of the constraint, and a pe ..."
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Cited by 4 (4 self)
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In this paper, a reductiontype method combined with a line search filter method to solve nonlinear semiinfinite programming problems is presented. The algorithm uses the simulated annealing method equipped with a function stretching technique to compute the maximizers of the constraint, and a penalty technique to solve the reduced finite optimization problem. The filter method is used as an alternative to merit functions to guarantee convergence from poor starting points. Preliminary numerical results with a problems test set are shown.
A Hyperbolic Penalty Filter Method for SemiInfinite Programming
"... This paper presents a new reductiontype method for solving semiinfinite programming problems, where the multilocal optimization is carried out with a sequential simulated annealing algorithm, and the finite reduced problem is solved by a penalty technique based on an hyperbolic function. Global ..."
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Cited by 2 (2 self)
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This paper presents a new reductiontype method for solving semiinfinite programming problems, where the multilocal optimization is carried out with a sequential simulated annealing algorithm, and the finite reduced problem is solved by a penalty technique based on an hyperbolic function. Global convergence is ensured by a line search filter method. Numerical experiments with a set of known problems show that the algorithm is promising.
Considering Floatting Contact and UnModeled Effects for MultiContact Motion Generation
, 2013
"... Abstract—In this paper, we plan robotic multicontact nongaited motion by solving an overall optimization problem. Our algorithm takes as input the contact stances, the model of the robot and its environment, and generates the joints trajectories that achieve multicontact motion under explicit cons ..."
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Abstract—In this paper, we plan robotic multicontact nongaited motion by solving an overall optimization problem. Our algorithm takes as input the contact stances, the model of the robot and its environment, and generates the joints trajectories that achieve multicontact motion under explicit constraints such as joint position, velocity and torque limits, equilibrium and eventually other task objectives. We improve our previous work in order to consider floatting contacts for which some components of the contact position and/or orientation are not specified. We also discuss how, in practice, we bridge theoretical computations based on a rigid model of the robot to actual experiments by considering additional constraints during the optimization process. Index Terms—Humanoid robots, multicontact, floatting contact, flexibilities I.
Optimization Interior point filter method for semi infinite programming problems
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BranchandBound Reduction Type Method for SemiInfinite Programming
"... Semiinfinite programming (SIP) problems can be efficiently solved by reduction type methods. Here, we present a new reduction method for SIP, where the multilocal optimization is carried out with a multilocal branchandbound method, the reduced (finite) problem is approximately solved by an in ..."
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Semiinfinite programming (SIP) problems can be efficiently solved by reduction type methods. Here, we present a new reduction method for SIP, where the multilocal optimization is carried out with a multilocal branchandbound method, the reduced (finite) problem is approximately solved by an interior point method, and the global convergence is promoted through a twodimensional filter line search. Numerical experiments with a set of wellknown problems are shown.
DOI: 10.1109/IROS.2010.5649233 Generation of Dynamic Motions Under Continuous Constraints: Efficient Computation Using BSplines and Taylor polynomials
, 2013
"... Abstract — This paper proposes a new computation method to solve semiinfinite optimization problems for motion planning of robotic systems. Usually, this problem is solved by means of timegrid discretization of the continuous constraints. Unfortunately, discretization may lead to unsafe motions si ..."
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Abstract — This paper proposes a new computation method to solve semiinfinite optimization problems for motion planning of robotic systems. Usually, this problem is solved by means of timegrid discretization of the continuous constraints. Unfortunately, discretization may lead to unsafe motions since there is no guarantee of constraint satisfaction between time samples. First, we show that constraints such as joint position and velocity do not need timediscretization to be checked. Then, we present the computation method based on Taylor polynomials to evaluate more complex constraints over timeintervals. This method also applies to continuous equality constraints, to continuous maximum derivative constraint, and to compute the cost function. Index Terms — SemiInfinite Programming, motion optimization, Taylor polynomials, humanoid robots
Efficient Computation Using BSplines and Taylor polynomials
, 2013
"... HAL is a multidisciplinary open access archive for the deposit and dissemination of scientific research documents, whether they are published or not. The documents may come from teaching and research institutions in France or abroad, or from public or private research centers. L’archive ouverte p ..."
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HAL is a multidisciplinary open access archive for the deposit and dissemination of scientific research documents, whether they are published or not. The documents may come from teaching and research institutions in France or abroad, or from public or private research centers. L’archive ouverte pluridisciplinaire HAL, est destinée au dépôt et a ̀ la diffusion de documents scientifiques de niveau recherche, publiés ou non, émanant des établissements d’enseignement et de recherche français ou étrangers, des laboratoires publics ou privés.