Humanoid Whole-Body Movement Optimization from Retargeted Human Motions
| Autor: | Waldez Gomes, Vishnu Radhakrishnan, Serena Ivaldi, Jean-Baptiste Mouret, Valerio Modugno, Luigi Penco |
|---|---|
| Přispěvatelé: | Lifelong Autonomy and interaction skills for Robots in a Sensing ENvironment (LARSEN), Inria Nancy - Grand Est, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Department of Complex Systems, Artificial Intelligence & Robotics (LORIA - AIS), Laboratoire Lorrain de Recherche en Informatique et ses Applications (LORIA), Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)-Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)-Laboratoire Lorrain de Recherche en Informatique et ses Applications (LORIA), Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS), Dipartimento di Informatica e Sistemistica [Rome], Università degli Studi di Roma 'La Sapienza' = Sapienza University [Rome] (UNIROMA), Creativ'Lab, European Project: 731540,H2020,An.Dy(2017), European Project: 637972,H2020 ERC,ERC-2014-STG,ResiBots(2015), Università degli Studi di Roma 'La Sapienza' = Sapienza University [Rome] |
| Jazyk: | angličtina |
| Rok vydání: | 2019 |
| Předmět: |
0209 industrial biotechnology
Computer science business.industry Constrained optimization Process (computing) 02 engineering and technology Kinematics [SPI]Engineering Sciences [physics] 020901 industrial engineering & automation Teleoperation Retargeting 0202 electrical engineering electronic engineering information engineering Robot [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO] 020201 artificial intelligence & image processing Computer vision Artificial intelligence business iCub Humanoid robot |
| Zdroj: | IEEE/RAS Int. Conf. on Humanoid Robots IEEE/RAS Int. Conf. on Humanoid Robots, Oct 2019, Toronto, Canada 2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids) Humanoids |
| Popis: | International audience; Motion retargeting and teleoperation are powerful tools to demonstrate complex whole-body movements to hu-manoid robots: in a sense, they are the equivalent of kinesthetic teaching for manipulators. However, retargeted motions may not be optimal for the robot: because of different kinematics and dynamics, there could be other robot trajectories that perform the same task more efficiently, for example with less power consumption. We propose to use the retargeted trajectories to bootstrap a learning process aimed at optimizing the whole-body trajectories w.r.t. a specified cost function. To ensure that the optimized motions are safe, i.e., they do not violate system constraints, we use constrained optimization algorithms. We compare both global and local optimization approaches, since the optimized robot solution may not be close to the demonstrated one. We evaluate our framework with the humanoid robot iCub on an object lifting scenario, initially demonstrated by a human operator wearing a motion-tracking suit. By optimizing the initial retargeted movements, we can improve robot performance by over 40%. |
| Databáze: | OpenAIRE |
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