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Introduction Description of the software Manipulation planning Humanoid Path Planner Florent Lamiraux and Joseph Mirabel CNRS-LAAS, Toulouse, France HPP Introduction Description of the software Manipulation planning Humanoid Path Planner


  1. Introduction Description of the software Manipulation planning Humanoid Path Planner Florent Lamiraux and Joseph Mirabel CNRS-LAAS, Toulouse, France HPP

  2. Introduction Description of the software Manipulation planning Humanoid Path Planner Introduction Description of the software Manipulation planning HPP

  3. Introduction Description of the software Manipulation planning Outline Introduction Description of the software Manipulation planning HPP

  4. Introduction Description of the software Manipulation planning Path Planning Given ◮ A robot (kinematic chain), ◮ obstacles, ◮ constraints (non-holonomic, manipulation), ◮ an initial configuration and ◮ goal configurations, Compute a collision-free path satisfying the constraints from the initial configuration to a goal configuration. HPP

  5. Introduction Description of the software Manipulation planning Path Planning Given ◮ A robot (kinematic chain), ◮ obstacles, ◮ constraints (non-holonomic, manipulation), ◮ an initial configuration and ◮ goal configurations, Compute a collision-free path satisfying the constraints from the initial configuration to a goal configuration. HPP

  6. Introduction Description of the software Manipulation planning Path Planning Given ◮ A robot (kinematic chain), ◮ obstacles, ◮ constraints (non-holonomic, manipulation), ◮ an initial configuration and ◮ goal configurations, Compute a collision-free path satisfying the constraints from the initial configuration to a goal configuration. HPP

  7. Introduction Description of the software Manipulation planning Path Planning Given ◮ A robot (kinematic chain), ◮ obstacles, ◮ constraints (non-holonomic, manipulation), ◮ an initial configuration and ◮ goal configurations, Compute a collision-free path satisfying the constraints from the initial configuration to a goal configuration. HPP

  8. Introduction Description of the software Manipulation planning Path Planning Given ◮ A robot (kinematic chain), ◮ obstacles, ◮ constraints (non-holonomic, manipulation), ◮ an initial configuration and ◮ goal configurations, Compute a collision-free path satisfying the constraints from the initial configuration to a goal configuration. HPP

  9. Introduction Description of the software Manipulation planning Historical perspective ◮ 1998: Move3D, ◮ 2001: Creation of Kineo-CAM, transfer of Move3D, ◮ 2006: Release of KineoWorks-2, development of HPP based on KineoWorks-2, ◮ 2013: kineo-CAM is bought by Siemens, ◮ December 2013: development of HPP open-source. HPP

  10. Introduction Description of the software Manipulation planning Historical perspective ◮ 1998: Move3D, ◮ 2001: Creation of Kineo-CAM, transfer of Move3D, ◮ 2006: Release of KineoWorks-2, development of HPP based on KineoWorks-2, ◮ 2013: kineo-CAM is bought by Siemens, ◮ December 2013: development of HPP open-source. HPP

  11. Introduction Description of the software Manipulation planning Historical perspective ◮ 1998: Move3D, ◮ 2001: Creation of Kineo-CAM, transfer of Move3D, ◮ 2006: Release of KineoWorks-2, development of HPP based on KineoWorks-2, ◮ 2013: kineo-CAM is bought by Siemens, ◮ December 2013: development of HPP open-source. HPP

  12. Introduction Description of the software Manipulation planning Historical perspective ◮ 1998: Move3D, ◮ 2001: Creation of Kineo-CAM, transfer of Move3D, ◮ 2006: Release of KineoWorks-2, development of HPP based on KineoWorks-2, ◮ 2013: kineo-CAM is bought by Siemens, ◮ December 2013: development of HPP open-source. HPP

  13. Introduction Description of the software Manipulation planning Historical perspective ◮ 1998: Move3D, ◮ 2001: Creation of Kineo-CAM, transfer of Move3D, ◮ 2006: Release of KineoWorks-2, development of HPP based on KineoWorks-2, ◮ 2013: kineo-CAM is bought by Siemens, ◮ December 2013: development of HPP open-source. HPP

  14. Introduction Description of the software Manipulation planning Main features ◮ Numerical constraints at the core of the model ◮ quasi-static equilibrium ◮ object grasp and placement ◮ no a priori discretization of paths ◮ evaluation calls constraint projection ◮ constrained path need to be checked for continuity (class hpp::core::PathProjector ) HPP

  15. Introduction Description of the software Manipulation planning Main features ◮ Numerical constraints at the core of the model ◮ quasi-static equilibrium ◮ object grasp and placement ◮ no a priori discretization of paths ◮ evaluation calls constraint projection ◮ constrained path need to be checked for continuity (class hpp::core::PathProjector ) HPP

  16. Introduction Description of the software Manipulation planning Outline Introduction Description of the software Manipulation planning HPP

  17. Introduction Description of the software Manipulation planning Overview of the architecture Modular: collection of packages ◮ package dependencies tracked by pkg-config , ◮ installation managed by cmake and a git submodule: git://github.com/jrl-umi3218/jrl-cmakemodules.git , ◮ programmed in C++ , ◮ controlled via python HPP

  18. Introduction Description of the software Manipulation planning Overview of the architecture Modular: collection of packages ◮ package dependencies tracked by pkg-config , ◮ installation managed by cmake and a git submodule: git://github.com/jrl-umi3218/jrl-cmakemodules.git , ◮ programmed in C++ , ◮ controlled via python HPP

  19. Introduction Description of the software Manipulation planning Overview of the architecture Modular: collection of packages ◮ package dependencies tracked by pkg-config , ◮ installation managed by cmake and a git submodule: git://github.com/jrl-umi3218/jrl-cmakemodules.git , ◮ programmed in C++ , ◮ controlled via python HPP

  20. Introduction Description of the software Manipulation planning Overview of the architecture Modular: collection of packages ◮ package dependencies tracked by pkg-config , ◮ installation managed by cmake and a git submodule: git://github.com/jrl-umi3218/jrl-cmakemodules.git , ◮ programmed in C++ , ◮ controlled via python HPP

  21. Introduction Description of the software Manipulation planning Overview of the architecture Modular: collection of packages ◮ package dependencies tracked by pkg-config , ◮ installation managed by cmake and a git submodule: git://github.com/jrl-umi3218/jrl-cmakemodules.git , ◮ programmed in C++ , ◮ controlled via python HPP

  22. Introduction Description of the software Manipulation planning Overview of the architecture HPP

  23. Introduction Description of the software Manipulation planning Software Development Kit Packages implementing the core infrastructure ◮ Kinematic chain with geometry ◮ pinocchio : implementation of kinematic chain with geometry, ◮ tree of joints (Rotation, Translation, SE3: vector + unit-quaternions), ◮ moving fcl::CollisionObjects, ◮ forward kinematics, ◮ joint Jacobians, ◮ center of mass and Jacobian, ◮ URDF parser. ◮ Numerical constraints ◮ hpp-constraints : numerical constraints ◮ implicit f ( q ) = ( ≤ ) 0, ◮ explicit q out = f ( q in ) , ◮ numerical solvers based on Newton-Raphson. HPP

  24. Introduction Description of the software Manipulation planning Software Development Kit Packages implementing the core infrastructure ◮ Kinematic chain with geometry ◮ pinocchio : implementation of kinematic chain with geometry, ◮ tree of joints (Rotation, Translation, SE3: vector + unit-quaternions), ◮ moving fcl::CollisionObjects, ◮ forward kinematics, ◮ joint Jacobians, ◮ center of mass and Jacobian, ◮ URDF parser. ◮ Numerical constraints ◮ hpp-constraints : numerical constraints ◮ implicit f ( q ) = ( ≤ ) 0, ◮ explicit q out = f ( q in ) , ◮ numerical solvers based on Newton-Raphson. HPP

  25. Introduction Description of the software Manipulation planning Newton-Raphson algorithm Constraints ◮ quasi-static equilibrium (15) ◮ both hands hold the placard (10) Goal: Generate a configuration satisfying the constraints. HPP

  26. Introduction Description of the software Manipulation planning Newton-Raphson algorithm Constraints ◮ quasi-static equilibrium (15) ◮ both hands hold the placard (10) Shoot random configuration HPP

  27. Introduction Description of the software Manipulation planning Newton-Raphson algorithm Constraints ◮ quasi-static equilibrium (15) ◮ both hands hold the placard (10) Solve linearized system HPP

  28. Introduction Description of the software Manipulation planning Newton-Raphson algorithm Constraints ◮ quasi-static equilibrium (15) ◮ both hands hold the placard (10) Solve linearized system HPP

  29. Introduction Description of the software Manipulation planning Newton-Raphson algorithm Constraints ◮ quasi-static equilibrium (15) ◮ both hands hold the placard (10) Solve linearized system HPP

  30. Introduction Description of the software Manipulation planning Newton-Raphson algorithm Constraints ◮ quasi-static equilibrium (15) ◮ both hands hold the placard (10) Solve linearized system HPP

  31. Introduction Description of the software Manipulation planning Newton-Raphson algorithm Constraints ◮ quasi-static equilibrium (15) ◮ both hands hold the placard (10) Solve linearized system HPP

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