Human Trajectory Prediction Model and its Coupling with a Walking Pattern Generator of a Humanoid Robot
| Autor: | Olivier Stasse, Bruno Watier, Noelie Ramuzat, Isabelle Maroger |
|---|---|
| Přispěvatelé: | Équipe Mouvement des Systèmes Anthropomorphes (LAAS-GEPETTO), Laboratoire d'analyse et d'architecture des systèmes (LAAS), Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT)-Université de Toulouse (UT)-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Université de Toulouse (UT)-Institut National des Sciences Appliquées (INSA)-Université Toulouse - Jean Jaurès (UT2J), Université de Toulouse (UT)-Université Toulouse III - Paul Sabatier (UT3), Université de Toulouse (UT)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université de Toulouse (UT)-Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT), Airbus [France], ANR-18-CE10-0003,CoBot,Collaborative Robot(2018), Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées-Université Fédérale Toulouse Midi-Pyrénées-Centre National de la Recherche Scientifique (CNRS)-Université Toulouse III - Paul Sabatier (UT3), Université Fédérale Toulouse Midi-Pyrénées-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université Fédérale Toulouse Midi-Pyrénées-Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées |
| Jazyk: | angličtina |
| Rok vydání: | 2021 |
| Předmět: |
Control and Optimization
humanoid robot human locomotion Computer science Mechanical Engineering Biomedical Engineering prediction Optimal control Computer Science Applications Inverse dynamics Human-Computer Interaction Model predictive control optimal control Gait (human) Artificial Intelligence Control and Systems Engineering Control theory Trajectory Robot walking pattern generator [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO] Computer Vision and Pattern Recognition Humanoid robot |
| Zdroj: | IEEE Robotics and Automation Letters IEEE Robotics and Automation Letters, 2021, 6 (4), pp.6361-6369. ⟨10.1109/LRA.2021.3092750⟩ IEEE Robotics and Automation Letters, IEEE 2021, 6 (4), pp.6361-6369. ⟨10.1109/LRA.2021.3092750⟩ |
| ISSN: | 2377-3766 |
| DOI: | 10.1109/LRA.2021.3092750⟩ |
| Popis: | International audience; In order to smoothly perform interactions between a humanoid robot and a human, knowledge about the human locomotion can be efficiently used. Indeed, in a human-robot collaboration, a prediction model of the human behaviour allows the robot to act proactively. In this paper, an optimal control based model predicting the human Center of Mass (CoM) trajectory during gait is presented. A Walking Pattern Generator (WPG) based on non-linear model predictive control is, then, introduced in order to generate the robot CoM and footsteps along the predicted trajectory. The combination of the human trajectory prediction model and this new WPG aims to allow the robot to proactively walk along with a human instead of passively follow him. These models have been tested in simulation on Gazebo on a TALOS humanoid robot model using measured human trajectories. To perform the CoM and foot trajectories computed by the WPG, a real-time whole-body controller is used. This controller is a Quadratic Program which solves the inverse dynamics of the robot at torque level. |
| Databáze: | OpenAIRE |
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