Kinodynamic Motion Retiming for Humanoid Robots

Abstract

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).

Videos

Retimed motion performed by HRP-4

Original motion performed by HRP-4

Content

	Paper
	Slides
	Contact force constraints for TOPP
	ZMP constraints for TOPP

BibTeX

@inproceedings{caron2014rsj,
  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},
}