Safe Trajectory Optimization for Whole|Body Motion of Humanoids

Single Sequential Trajectory Optimization with Centroidal Dynamics ...

Finally, the whole-body trajectory generated by the proposed optimized method is demonstrated on a real humanoid robot platform, and a vertical jumping motion ...

Humanoid Whole-Body Movement Optimization from Retargeted ...

However, retargeted motions may not be optimal for the robot: because of different kinematics and dynamics, there could be other robot trajectories that perform ...

Whole-body motion and footstep planning for humanoid robots with ...

Pettre et al. [4] plan locomotion trajectories for digital actors by first planning a walking path in two-dimensional space, then converting it to a trajectory ...

Efficient whole-body trajectory optimization using contact constraint ...

This work presents a Trajectory Optimization framework for whole-body motion planning for floating base robots and demonstrates how the proposed approach ...

Whole-Body Dynamics-Based Aerial Fall Trajectory Optimization ...

When humanoid robots work in human environments, falls are inevitable due to the complexity of such environments. Current research on humanoid robot falls ...

An Inverse Optimal Control Approach for the Transfer of Human ...

To this end we introduce a 3D template model, which describes motion on the basis of center of mass trajectory, foot trajectories, upper body orientation and ...

Dynamic Complementarity Conditions & WholeBody Trajectory ...

Dynamic Complementarity Conditions and Whole-Body Trajectory Optimization for Humanoid Robot Locomotion.

Prediction of Human Full-Body Movements with Motion Optimization ...

For safe and efficient human-robot interaction it is cru- cial to foresee human motion in order to plan around the human partner and interact ...

Whole-Body Motion Planning for Humanoid Robots by Specifying ...

Furthermore, the via-points as the optimization parameters are related to some physical conditions. We applied this method to generate the kicking motion of a ...

Finding Locally Optimal, Collision-Free Trajectories with Sequential ...

(ii) An efficient formulation of the no-collisions constraint that directly considers continuous-time safety and enables the algorithm to reliably solve motion ...

Trajectory Optimization and Control of a Free-Floating Two-Arm ...

An optimization algorithm for planning the motion of a humanoid robot during extravehicular activities is ... Whole-Body. Motion Generation ...

Ensemble-CIO: Full-Body Dynamic Motion Planning that Transfers to ...

optimize a movement trajectory, play it on the robot and see what happens ... human lower limbs using contact-invariant optimization,” ACM Trans. Graph ...

An Efficient Online Trajectory Generation Method Based on ... - MDPI

The safety of human-robot coexistence has become critical. Traditional motion planning methods perform poorly in dynamic environments where obstacles motion is ...

Whole Body Trajectory Optimization: Experiments and Code - Share

We have been experimenting with whole-body trajectory optimization for Stretch, first explored by Michal Ciebielski here. This post contains ...

Optimizing Mobility of Robotic Arms in Collision-free Motion Planning

The second method optimize the path with the stochastic trajectory optimization for motion planning (STOMP) approach with Gaussian Mixture ...

Optimization-Based Control for Dynamic Legged Robots - DAIR Lab

... motions for the humanoid robot iCub using whole body models,” Applied Sci. ... Pucci, “Dynamic complementarity conditions and whole-body trajectory optimization ...

Optimization-based Motion Planning for Humanoid Fall Recovery

alized humanoid whole-body motion planner that unifies fixed contact ... generates the contact sequence and optimized whole-body trajectories to achieve a.

WS on Advancements in TO and MPC for Legged Systems

... trajectory optimization and model predictive control for Legged Systems for the Humanoids ... Whole-Body Control and Model-Based Optimization for Robotics. Built ...

Ch. 6 - Motion Planning - Robotic Manipulation

There are a number of related approaches to kinematic trajectory optimization in the motion ... Whole-body Planning", Journal of Field ...

Rapid and Robust Trajectory Optimization for Humanoids

Presents a rapid and robust trajectory optimization method for humanoid robots · Aims to enable real-time motion planning for complex robotic ...