ICRA'09 Paper Abstract

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Paper FrD7.3

KANOUN, Oussama (LAAS-CNRS), Lamiraux, Florent (CNRS), Kanehiro, Fumio (National Inst. of AIST), Yoshida, Eiichi (National Inst. of AIST), Laumond, Jean-Paul (LAAS-CNRS), Wieber, Pierre-Brice (INRIA Rhône-Alpes)

Prioritizing Linear Equality and Inequality Systems: Application to Local Motion Planning for Redundant Robots

Scheduled for presentation during the Regular Sessions "Kinematics of Redundant Systems" (FrD7), Friday, May 15, 2009, 16:10−16:30, Room: 405

2009 IEEE International Conference on Robotics and Automation, May 12 - 17, 2009, Kobe, Japan

This information is tentative and subject to change. Compiled on January 21, 2022

Keywords Redundant Robots, Kinematics, Motion and Path Planning

Abstract

We present a novel method for prioritizing both linear equality and inequality systems and provide one algorithm for its resolution. This algorithm can be summarized as a sequence of optimal resolutions for each linear system following their priority order. We propose an optimality criterion that is adapted to linear inequality systems and characterize the resulting optimal sets at every priority level. We have successfully applied our method to plan local motions for the humanoid robot HPR-2. We will demonstrate the validity of the method using an original scenario where linear inequality constraints are solved at lower priority than equality constraints.

 

 

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