Generation of Dynamic Motion for Anthropomorphic Systems under Prioritized Equality and Inequality Constraints

摘要：

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.

作者: L. Saab N. Mansard F. Keith J-Y. Fourquet P. Soueres

作者单位: CNRS,LAAS,7,avenue du Colonel Roche,F-31077 Toulouse,France,Université de Toulouse(UPS) CNRS-AIST JRL,UMI3218/CRT,Tsukuba,Japan and the CNRS-UM2 LIRMM,Montpellier,France LGP-ENIT,47,avenue dAzereix,65016,Tarbes,France

会议类型: 国际会议

会议名称: 2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

会议地点: 上海

会议语种:英文

页码: 1091-1096

在线出版日期: 2011-05-09（万方平台首次上网日期，不代表论文的发表时间）