TY - GEN
T1 - Planning tangling motions for humanoids
AU - Ho, Edmond S.L.
AU - Komura, Taku
PY - 2007/1/1
Y1 - 2007/1/1
N2 - There are not much methods for humanoid robots to path-plan movements such as piggyback-carry, firefighter-lift or giving a shoulder to support the gait of another. Such methods are essential to apply humanoid robots for rescuing people in emergency, or for taking care of injured/elderly people in the hospital. It is difficult to plan such motions as they require the limbs of the humanoids to be tangled. In this paper, we propose a new method to plan such movements using a criteria based on the Gauss Linking Integral (GLI). The user first specifies the target configurations of the humanoids. The system then detects the tangles made between the bodies, and then plans how the humanoids should move to arrive to the target posture from separate configurations. The motion get entangled is planned by the Rapidly-exploring Random Trees (RRT) expansion. Using our method, it is possible to path-plan complex tangling motions which were difficult by previous methods.
AB - There are not much methods for humanoid robots to path-plan movements such as piggyback-carry, firefighter-lift or giving a shoulder to support the gait of another. Such methods are essential to apply humanoid robots for rescuing people in emergency, or for taking care of injured/elderly people in the hospital. It is difficult to plan such motions as they require the limbs of the humanoids to be tangled. In this paper, we propose a new method to plan such movements using a criteria based on the Gauss Linking Integral (GLI). The user first specifies the target configurations of the humanoids. The system then detects the tangles made between the bodies, and then plans how the humanoids should move to arrive to the target posture from separate configurations. The motion get entangled is planned by the Rapidly-exploring Random Trees (RRT) expansion. Using our method, it is possible to path-plan complex tangling motions which were difficult by previous methods.
UR - https://www.scopus.com/pages/publications/67649736210
U2 - 10.1109/ICHR.2007.4813918
DO - 10.1109/ICHR.2007.4813918
M3 - Conference contribution
AN - SCOPUS:67649736210
SN - 9781424418626
T3 - Proceedings of the 2007 7th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS 2007
SP - 507
EP - 512
BT - Proceedings of the 2007 7th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS 2007
PB - IEEE
T2 - 2007 7th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS 2007
Y2 - 29 November 2007 through 1 December 2007
ER -