Announcing HRP2 Biped Planning with MoveIt!

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Dave Coleman

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Mar 18, 2014, 1:41:45 PM3/18/14
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Greetings,

I'd like to announce some new humanoid/biped motion planning capabilities we've been working on for MoveIt! in collaboration with the University of Tokyo JSK Laboratories. We've implemented a proof-of-concept whole body motion planner for the HRP2 robot that combines JSK's lisp-based biped solvers and expertise with the power of OMPL and MoveIt!. 


The changes include:
  • New KinematicBase API that allows multiple tips to optionally be used in inverse kinematic solvers
  • Various changes throughout MoveIt! to support whole-body IK solvers
  • New IK solver plugin that creates a ROS service call to allow non-C++ solvers
  • Custom constraint sampler for MoveIt! that enforces orientation constraints on torso virtual joint and samples leg positions using an IK solver
  • Custom planning request adapter that adds valid walking steps to a generated trajectory from an external walking generator
  • Custom interpolation method that applies a constraint to keep feet above the ground between sampled states
An overview of the HRP2 Integration (attached):
Inline image 1

These are still preliminary implementation results with many limitations. You can find the custom HRP2 MoveIt! plugins here.

Future work:
  • Bias walking exploration before arm manipulation exploration 
  • Stability checking and planning with dynamics
  • Integrated footstep planning - may require hierarchical planners
  • Create example code using non-close licensed humanoid robot model (SampleRobot or HRP-4C)

Note: many of the 16 pull requests to the MoveIt code base are still under review.

Many thanks to the members of the JSK including:
  • Dr. Kei Okada
  • Dr. Masayuki Inaba
  • Shintaro Noda
  • Shunichi Nozawa
  • Eisoku Kuroiwa
  • Masaki Murooka
  • Ryohei Ueda

Dave Coleman
Correll Robotics Lab | CU Boulder | 251.463.2345 | davetcoleman.com 


HRP2_MoveIt_Integration.png

Sachin Chitta

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Mar 18, 2014, 2:02:35 PM3/18/14
to Dave Coleman, moveit-users
Dave,

That is just awesome!!

Sachin

Ioan Sucan

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Mar 18, 2014, 2:27:41 PM3/18/14
to Dave Coleman, moveit-users

Congrats Dave! This is awesome!

Ioan

Sam Pfeiffer

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Mar 18, 2014, 2:34:51 PM3/18/14
to moveit...@googlegroups.com, Dave Coleman
Woha! Amazing!
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