Zhou, C orcid.org/0000-0002-6677-0855, Fang, C, Wang, X et al. (2 more authors) (2016) A generic optimization-based framework for reactive collision avoidance in bipedal locomotion. In: 2016 IEEE International Conference on Automation Science and Engineering (CASE). 2016 IEEE CASE, 21-25 Aug 2016, Fort Worth, TX, USA. IEEE , pp. 1026-1033. ISBN 978-1-5090-2409-4
Abstract
In this work we present a novel and generic framework for reactive collision avoidance in bipedal locomotion, which is formulated as an optimization problem considering the constraints of collision avoidance as well as others (e.g. joint limits) to simultaneously satisfy both Cartesian and joint space objectives. To realize the reactive behaviors, several task space motions, such as the translational motion of the swing foot and the vertical position of the support foot, could be relaxed in presence of obstacles. Therefore, the swing foot trajectory is modulated with respect to the references in real-time for preventing future collisions between the legs, or legs and obstacles in the environment. External obstacle negotiation in the proposed framework can also be addressed generically by treating the obstacle as an extended segment of the support foot. The allowable deviation of the relaxed degrees of freedom from their references could be further utilized to modify the foot placement to regenerate a reactive walking pattern. The validation and the performance of the proposed method are fully evaluated and demonstrated in physics based simulations of the compliant humanoid robot COMAN.
Metadata
Item Type: | Proceedings Paper |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2016 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. |
Keywords: | Legged locomotion; Collision avoidance; Foot; Optimization; Humanoid robots; Trajectory |
Dates: |
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Institution: | The University of Leeds |
Academic Units: | The University of Leeds > Faculty of Engineering & Physical Sciences (Leeds) > School of Mechanical Engineering (Leeds) > Institute of Engineering Systems and Design (iESD) (Leeds) |
Depositing User: | Symplectic Publications |
Date Deposited: | 04 Apr 2019 12:41 |
Last Modified: | 14 May 2019 11:48 |
Status: | Published |
Publisher: | IEEE |
Identification Number: | 10.1109/COASE.2016.7743516 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:144475 |