Safe trajectory optimization for whole|body motion of humanoids ...

Safe trajectory optimization for whole-body motion of humanoids

Abstract: Multi-task prioritized controllers generate complex behaviors for humanoids that concurrently satisfy several tasks and constraints.

Safe Trajectory Optimization for Whole-Body Motion of Humanoids

The generation of complex whole-body movements for humanoid robots typically involves the definition of a set of tasks (i.e., tracking a desired trajectory for ...

Safe trajectory optimization for whole-body motion of humanoids

The generation of complex whole-body movements for humanoid robots typically involves the definition of a set of tasks (i.e., tracking a desired trajectory for ...

[PDF] Safe trajectory optimization for whole-body motion of humanoids

This work applies the learning framework to the prioritized whole-body torque controller of iCub, to optimize the robot's movement for standing up from a ...

Safe trajectory optimization for whole-body motion of humanoids - HAL

... Conference on. Humanoid Robots, Nov 2017, Birmingham, United Kingdom. hal-01613646 . Page 2. Safe trajectory optimization for whole-body motion ...

Safe trajectory optimization for whole-body motion of humanoids ...

Multi-task prioritized controllers generate complex behaviors for humanoids that concurrently satisfy several tasks and constraints.

Safe trajectory optimization for whole-body motion of humanoids

Here, we take the opposite approach: we optimize the task trajectories for whole-body balancing tasks with switching contacts, ensuring that the ...

Safe trajectory optimization for whole-body motion of humanoids

Trajectory optimization is essential for autonomous vehicle motion planning, due to its non-holonomic motion. Conventional way of optimization is by trajectory ...

Safe trajectory optimization for whole-body motion of humanoids

Safe trajectory optimization for whole-body motion of humanoids · Abstract · Similar works · Full text.

Whole-Body Trajectory Optimization for Humanoid Falling

unstable structures and any humanoid with sufficient physical capabilities poses a significant safety risk. On the other hand, humanoid robots are designed to ...

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

In this paper, we employ an extended state variable formulation that directly maps from the high-level motion strategy space to the full-body joint space to ...

Whole-Body Trajectory Optimization for Robot Multimodal Locomotion

Preprint: https://arxiv.org/pdf/2211.12849.pdf Code: https://github.com/ami-iit/paper_lerario_2022_humanoids_planning-multimodal-locomotion ...

Trajectory Optimization, Tablet Showing, Visual Servoing, and More!

We specify 6DOF trajectories for the robot's end effector to track, and non-holonomic motion constraints are enforced for the robot's base. My ...

Whole-Body Dynamics for Humanoid Robot Fall Protection ... - NCBI

Subsequently, these trajectories were input into a whole-body dynamic control framework for optimization and solution, yielding the acceleration ...

Opt2Skill: Imitating Dynamically-feasible Whole-Body Trajectories ...

Opt2Skill aims to develop loco-manipulation controllers that enable the Digit humanoid robot to track model-based optimal trajectories. Our framework is ...

Rapid and Robust Trajectory Optimization for Humanoids

Performing trajectory design for humanoid robots with high degrees of freedom is computationally challenging. The trajectory design process ...

Self-protect falling trajectories for humanoids with resilient trunk

Off-line recorded instructed human fall motions is used as an initial guess for the trajectory optimization process. Then, we use B-Spline to match optimization ...

Humanoid Whole-Body Movement Optimization from Retargeted ...

To ensure that the optimized motions are safe, i.e., they do not violate system constraints, we use constrained optimization algorithms. We ...

Versatile Locomotion Planning and Control for Humanoid Robots

We propose a locomotion framework for bipedal robots consisting of a new motion planning method, dubbed trajectory optimization for walking robots plus (TOWR+),

Optimization-based whole-body motion planning for humanoid robots

... safety of the trajectory (though it makes a geometric approximation). Consider a moving object A and a static object B, for. 0 ≤ t ≤ 1. The motion is free ...