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Communication Dans Un Congrès Année : 2011

Generation of dynamic motion for anthropomorphic systems under prioritized equality and inequality constraints

Résumé

In this paper, we propose a solution to compute full-dynamic motions for a humanoid robot, accounting for various kinds of constraints such as dynamic balance or joint limits. As a first step, we propose a unification of task-based control schemes, in inverse kinematics or inverse dynamics. Based on this unification, we generalize the cascade of quadratic programs that were developed for inverse kinematics only. Then, we apply the solution to generate, in simulation, wholebody motions for a humanoid robot in unilateral contact with the ground, while ensuring the dynamic balance on a non horizontal surface.
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Dates et versions

hal-00963612 , version 1 (21-03-2014)

Identifiants

  • HAL Id : hal-00963612 , version 1
  • OATAO : 8393

Citer

Layale Saab, Nicolas Mansard, François Keith, Jean-Yves Fourquet, Philippe Souères. Generation of dynamic motion for anthropomorphic systems under prioritized equality and inequality constraints. ICRA 2011 - IEEE International Conference on Robotics and Automation, May 2011, Shanghai, China. pp.1091-1096. ⟨hal-00963612⟩
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