Multi-modal push planner for humanoid robots
First Claim
1. A method of planning motions for a subject device operable in two or more modes, each mode having a set of constraints on configuration of the subject device, comprising:
- receiving a target configuration of the subject device;
selecting a first transition configuration of the subject device from candidate transition configurations shared by a most constrained mode of the two or more modes and a first mode adjacent to the most constrained mode, the first mode placed between the most constrained mode and a mode of an initial configuration;
at a computing device, performing a first search for a first series of configurations from the first transition configuration to the initial configuration;
performing a second search for a second series of configurations from the first transition configuration to the target configuration; and
outputting the first and second series of configurations.
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Abstract
Multi-modal planning method and system that search a path for the most constrained mode first, and then expands the searches for path in a less constrained mode. By searching the path for the most constrained mode first, less resource are wasted on searching for paths that does not result in a feasible path in the most constrained mode. Multi-modal planning is performed by precomputing feasibility and utility of transition configurations of two adjacent modes. The feasibility is used to exclude non-feasible transition configurations in the most constrained mode from being sampled. The utility is used to bias sampling of the transition configuration so that transition configurations with higher utility are sampled with higher probability. Paths of configurations with higher utility and efficiency are obtained by biasing the sampling of the transition configurations.
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Citations
21 Claims
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1. A method of planning motions for a subject device operable in two or more modes, each mode having a set of constraints on configuration of the subject device, comprising:
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receiving a target configuration of the subject device; selecting a first transition configuration of the subject device from candidate transition configurations shared by a most constrained mode of the two or more modes and a first mode adjacent to the most constrained mode, the first mode placed between the most constrained mode and a mode of an initial configuration; at a computing device, performing a first search for a first series of configurations from the first transition configuration to the initial configuration; performing a second search for a second series of configurations from the first transition configuration to the target configuration; and outputting the first and second series of configurations. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A computer readable storage medium adapted to plan motions for a subject device, the computer readable storage medium structured to store instructions, when executed, cause a processor to:
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receive a target configuration of the subject device, the subject device operable in two or more modes, each mode having a set of constraints on configurations that may be taken by the subject device; determine two or more modes taken by the subject device to reach the target configuration from an initial configuration; perform a first search for a first series of configurations from a first transition configuration of the subject device to the initial configuration of the subject device; perform a second search for a second series of configurations from the first transition configuration of the subject device to the target configuration of the subject device; and output the first and second series of configurations of the subject device. - View Dependent Claims (9, 10, 11, 12, 13, 14)
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15. A system for planning motions for a subject device operable in two or more modes, each mode having a set of constraints on configurations that may be taken by the subject device, comprising:
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a critical mode planner adapted to select a first transition configuration of the subject device from candidate transition configurations shared by a most constrained mode of the two or more modes and a first mode adjacent to the most constrained mode, the first mode placed between the most constrained mode and a mode of an initial configuration; and a search tree expander adapted to perform a first search for a first series of configurations from the first transition configuration to the initial configuration; a single mode planner adapted to perform a second search for a second series of configurations from the first transition configuration to the target configuration; and a plan path extractor adapted to output a first and second series of configurations. - View Dependent Claims (16, 17, 18, 19, 20, 21)
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Specification