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

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...

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Bibliographic Details
Main Authors: Saab, L., Mansard, N., Keith, F., Fourquet, J.-Y, Soueres, P.
Format: Conference Proceeding
Language:English
Subjects:
Acceleration
Aerospace electronics
Dynamics
Jacobian matrices
Joints
Kinematics
Robots
Online Access:Request full text
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Summary: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, whole-body motions for a humanoid robot in unilateral contact with the ground, while ensuring the dynamic balance on a non horizontal surface.
ISSN:1050-4729
2577-087X
DOI:10.1109/ICRA.2011.5980384