The artificial motion for humanoid robotics

The objective is to provide humanoid robots with motion autonomy by developing methods and software for motion planning and control. Robot motion planning and control is a core research topic in Robotics. Humanoid robotics renew the topic with two challenges: facing the complexity of the mechanical system (more than 30 degrees of freedom) and facing the physical interaction between the robot and the real world. In such a framework, dynamics plays a central role while most of existing motion planning approaches only deal with geometry (obstacle avoidance) and kinematics. This axis benefits from the support of the joint French-Japanese JRL. Software developments are based on KineoWorks from Kineo CAM and OpenHRP from General Robotix.

Fast humanoid robot collision-free footstep planning using swept volume approximations. N. Perrin, O. Stasse, L. Baudouin, F. Lamiraux and E. Yoshida. IEEE Transactions on Robotics, 28(2):1-13, 2012. (PDF) (BIBTEX)
Integrating Walking and Vision to increase Humanoid Autonomy. O. Stasse, B. Verrelst, A. Davison, N. Mansard, F. Saïdiand B. Vanderborght, C. Esteves and K. Yokoi. International Journal of Humanoid Robotics, special issue on Cognitive Humanoid Robots, 5(2):287-310, 2008. (BIBTEX)