{"id":402,"date":"2011-08-23T15:49:11","date_gmt":"2011-08-23T15:49:11","guid":{"rendered":"http:\/\/janela.lirmm.fr\/~fraisse\/?p=402"},"modified":"2012-08-23T15:53:13","modified_gmt":"2012-08-23T15:53:13","slug":"t-ro-2011","status":"publish","type":"post","link":"https:\/\/www.lirmm.fr\/~fraisse\/archives\/402","title":{"rendered":"T-RO 2011"},"content":{"rendered":"<h2>\u00a0Planning and Fast Replanning Safe Motions for Humanoid Robots<\/h2>\n<ul class=\"papercite_bibliography\">\n<li>         <a href=\"http:\/\/www.lirmm.fr\/~fraisse\/wp-content\/papercite-data\/pdf\/a2011-tro-sl-al.pdf\" title='Download PDF' class='papercite_pdf'><img src='http:\/\/www.lirmm.fr\/~fraisse\/wp-content\/plugins\/papercite\/img\/pdf.png' alt=\"[PDF]\"\/><\/a>   <a href='http:\/\/dx.doi.org\/10.1109\/TRO.2011.2162998' class='papercite_doi' title='View document on publisher site'><img src='http:\/\/www.lirmm.fr\/~fraisse\/wp-content\/plugins\/papercite\/img\/external.png' width='10' height='10' alt='[DOI]' \/><\/a>           S. Lengagne, N. Ramdani, and P. Fraisse. Planning and Fast Replanning Safe Motions for Humanoid Robots. <em>IEEE Transactions on Robotics<\/em>, 27(6):1095-1106, February 2011. <br \/>    <a href=\"javascript:void(0)\" id=\"papercite_0\" class=\"papercite_toggle\">[Bibtex]<\/a>\n<div class=\"papercite_bibtex\" id=\"papercite_0_block\">\n<pre><code class=\"tex bibtex\">@article{a2011-tro-sl-al,\nAuthor = {Lengagne, S. and Ramdani, N and Fraisse, P.},\nJournal = {{IEEE Transactions on Robotics}},\nMonth = {February},\nNumber = {6},\nPages = {1095-1106},\nTitle = {Planning and Fast Replanning Safe Motions for Humanoid Robots},\nVolume = {27},\nYear = {2011},\nkeywords={publier},\ndoi={10.1109\/TRO.2011.2162998},\n}<\/code><\/pre>\n<\/div>\n<\/li>\n<\/ul>\n<p style=\"text-align: justify;\">This paper introduces effective numerical methods for the planning and fast replanning of safe motions to ensure the safety, balance and integrity of humanoid robots over the whole motion duration. Our safe methods do not depend nor\u00a0are connected to any type of modelling or constraints. To plan\u00a0safe motions, certain constraints have to be satisfied over a\u00a0continuous interval of time. Classical methods revert to time-grid\u00a0discretization, which can be risky for the robot. We introduce\u00a0a hybrid method for planning safe motions, which combines\u00a0a classical unsafe method with a verification step that checks\u00a0constraint violation and computes excess using interval analysis.\u00a0When the robot meets unexpected situations, it has to replan\u00a0a new motion, which is often too time-consuming. Hence, we\u00a0introduce a new method for rapidly replanning safe motions, i.e.,\u00a0in less than 2s CPU time. It computes off-line feasible subsets\u00a0in the vicinity of safe motions and finds on-line a solution in\u00a0these subsets without actually computing again the nonlinear\u00a0constraints. Our methods are validated using the HOAP-3 robot,\u00a0where the motions are run without any balance controller.<\/p>\n<p><iframe loading=\"lazy\" src=\"http:\/\/www.youtube.com\/embed\/la9I2FSYnN8\" frameborder=\"0\" width=\"448\" height=\"300\"><\/iframe><\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u00a0Planning and Fast Replanning Safe Motions for Humanoid Robots S. Lengagne, N. Ramdani, and P. Fraisse. Planning and Fast Replanning Safe Motions for Humanoid Robots. IEEE Transactions on Robotics, 27(6):1095-1106, February 2011. [Bibtex] @article{a2011-tro-sl-al, Author = {Lengagne, S. and Ramdani, &hellip; <a href=\"https:\/\/www.lirmm.fr\/~fraisse\/archives\/402\">Continue reading <span class=\"meta-nav\">&rarr;<\/span><\/a><\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"aside","meta":[],"categories":[10],"tags":[],"_links":{"self":[{"href":"https:\/\/www.lirmm.fr\/~fraisse\/wp-json\/wp\/v2\/posts\/402"}],"collection":[{"href":"https:\/\/www.lirmm.fr\/~fraisse\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/www.lirmm.fr\/~fraisse\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/www.lirmm.fr\/~fraisse\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/www.lirmm.fr\/~fraisse\/wp-json\/wp\/v2\/comments?post=402"}],"version-history":[{"count":8,"href":"https:\/\/www.lirmm.fr\/~fraisse\/wp-json\/wp\/v2\/posts\/402\/revisions"}],"predecessor-version":[{"id":409,"href":"https:\/\/www.lirmm.fr\/~fraisse\/wp-json\/wp\/v2\/posts\/402\/revisions\/409"}],"wp:attachment":[{"href":"https:\/\/www.lirmm.fr\/~fraisse\/wp-json\/wp\/v2\/media?parent=402"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.lirmm.fr\/~fraisse\/wp-json\/wp\/v2\/categories?post=402"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.lirmm.fr\/~fraisse\/wp-json\/wp\/v2\/tags?post=402"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}