Kinodynamic Motion Retiming for Humanoid Robots

Stéphane Caron, Quang-Cuong Pham and Yoshihiko Nakamura. RSJ 2014, Fukuoka, Japan, September 2014.


In this paper, we advocate the use of Time-Optimal Path Parameterization (TOPP) to enable planning of dynamic motions for humanoid robots. We extend the existing formulation of ZMP constraints to arbitrary polygonal areas and provide an original approach to incorporate frictional contact constraints in TOPP. We evaluate our algorithm experimentally with the HRP-4 robot performing a stepping motion. Given a slow and quasi-static input motion, our method automatically produces a 2x-faster dynamic motion successfully executed on the real robot (4x faster in simulation).


Retimed motion performed by HRP-4

Original motion performed by HRP-4


  author = {Caron, St{\'e}phane and Nakamura, Yoshihiko and Pham, Quang-Cuong},
  booktitle = {Proceedings of the 32nd Annual Conference of the Robotics Society of Japan},
  title = {Kinodynamic Motion Retiming for Humanoid Robots},
  year = {2014},
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