ICRA 2011 Paper Abstract


Paper TuA211.5

Saab, Layale (LAAS-CNRS), Mansard, Nicolas (CNRS), Keith, François (AIST/CNRS), Fourquet, Jean-Yves (ENIT), Soueres, Philippe (LAAS-CNRS)

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

Scheduled for presentation during the Regular Sessions "Direct/Inverse Dynamics Formulation" (TuA211), Tuesday, May 10, 2011, 11:05−11:20, Room 5F

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on April 2, 2020

Keywords Direct/Inverse Dynamics Formulation, Humanoid Robots, Redundant Robots


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.



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