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

Saab, Layale and Mansard, Nicolas and Keith, François and Fourquet, Jean-Yves and Souères, Philippe Generation of dynamic motion for anthropomorphic systems under prioritized equality and inequality constraints. (2011) In: 2011 IEEE International Conference on Robotics and Automation (ICRA 2011), 9 May 2011 - 13 May 2011 (Shanghai, China).

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Official URL: http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=5980384&tag=1


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.

Item Type:Conference or Workshop Item (Paper)
Additional Information:Thanks to IEEE editor. The definitive version is available at : http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=5980384&tag=1
HAL Id:hal-00963612
Audience (conference):International conference proceedings
Uncontrolled Keywords:
Institution:Other partners > National Institute for Advanced Industrial Science and Technology - AIST (JAPAN)
French research institutions > Centre National de la Recherche Scientifique - CNRS (FRANCE)
Université de Toulouse > Institut National Polytechnique de Toulouse - Toulouse INP (FRANCE)
Université de Toulouse > Institut National des Sciences Appliquées de Toulouse - INSA (FRANCE)
Université de Toulouse > Université Toulouse III - Paul Sabatier - UT3 (FRANCE)
Other partners > Université de Montpellier 2 (FRANCE)
Laboratory name:
Deposited On:15 Mar 2013 09:10

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