Prioritizing linear equality and inequality systems: Application to local motion planning for redundant robots

Kanoun, Oussama; Lamiraux, Florent; Wieber, Pierre-Brice; Kanehiro, Fumio; Yoshida, Eiichi; Laumond, Jean–Paul

doi:10.1109/robot.2009.5152293

Cited by 88 publications

(85 citation statements)

References 13 publications

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“…While robotic arms were composed of six articulated bodies, some of the humanoid robots now feature more than 40 degrees of freedom. To control the motion of such structures, special numerical frameworks have been proposed (Liégeois 1977;Nakamura 1991;Siciliano and Slotine 1991;Baerlocher and Boulic 2004;Khatib et al 2004;Mansard and Chaumette 2007;Kanoun et al 2009) allowing real-time control based on desired dynamic or kinematic goals.…”

Section: Introductionmentioning

confidence: 99%

Planning foot placements for a humanoid robot: A problem of inverse kinematics

Kanoun

Laumond

Yoshida³

2010

The International Journal of Robotics Research

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We present a novel approach to plan foot placements for a humanoid robot according to kinematic tasks. In this approach, the foot placements are determined by the continuous deformation of a robot motion including a locomotion phase according to the desired tasks. We propose to represent the motion by a virtual kinematic tree composed of a kinematic model of the robot and articulated foot placements. This representation allows us to formulate the motion deformation problem as a classical inverse kinematics problem on a kinematic tree. We first provide details of the basic scheme where the number of footsteps is given in advance and illustrate it with scenarios on the robot HRP-2. Then we propose a general criterion and an algorithm to adapt the number of footsteps progressively to the kinematic goal. The limits and possible extensions of this approach are discussed last.

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Section: Introductionmentioning

confidence: 99%

Planning foot placements for a humanoid robot: A problem of inverse kinematics

Kanoun

Laumond

Yoshida³

2010

The International Journal of Robotics Research

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“…Introducing different constraints for restricting motion could introduce conflicts, in which case it could be necessary to prioritize [18]. In this paper we do not explicitly consider priorities, however by changing weights and introducing slack variables this could be considered.…”

Section: Related Workmentioning

confidence: 99%

Adaptive object centered teleoperation control of a mobile manipulator

Båberg

Wang

Caccamo

et al. 2016

2016 IEEE International Conference on Robotics and Automation (ICRA)

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Abstract-Teleoperation of a mobile robot manipulating and exploring an object shares many similarities with the manipulation of virtual objects in a 3D design software such as AutoCAD. The user interfaces are however quite different, mainly for historical reasons. In this paper we aim to change that, and draw inspiration from the 3D design community to propose a teleoperation interface control mode that is identical to the ones being used to locally navigate the virtual viewpoint of most Computer Aided Design (CAD) softwares.The proposed mobile manipulator control framework thus allows the user to focus on the 3D objects being manipulated, using control modes such as orbit object and pan object, supported by data from the wrist mounted RGB-D sensor. The gripper of the robot performs the desired motions relative to the object, while the manipulator arm and base moves in a way that realizes the desired gripper motions. The system redundancies are exploited in order to take additional constraints, such as obstacle avoidance, into account, using a constraint based programming framework.

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“…Equation (4) can be minimized efficiently using a Linear Quadratic Program. More details on WBC can be found in [12], [2], [3].…”

Section: A Whole-body Controlmentioning

confidence: 99%

Variance modulated task prioritization in Whole-Body Control

Lober

Padois

Sigaud

2015

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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Abstract-Whole-Body Control methods offer the potential to execute several tasks on highly redundant robots, such as humanoids. Unfortunately, task combinations often result in incompatibilities which generate undesirable behaviors. Prioritization techniques can prevent tasks from perturbing one another but often to the detriment of the lower precedence tasks. For many tasks, static prioritization is not necessary or even appropriate because tasks can often be achieved in variable ways, as in reaching. In this paper, we show that such task variability can be used to modulate task priorities during execution, to temporarily deviate certain tasks as needed, in the presence of incompatibilities. We first present a method for mapping from task variance to task priority and then provide an approach for computing task variance. Through three common conflict scenarios, we demonstrate that mapping from task variance to priorities reactively solves a number of task incompatibilities.

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Prioritizing linear equality and inequality systems: Application to local motion planning for redundant robots

Cited by 88 publications

References 13 publications

Planning foot placements for a humanoid robot: A problem of inverse kinematics

Planning foot placements for a humanoid robot: A problem of inverse kinematics

Adaptive object centered teleoperation control of a mobile manipulator

Variance modulated task prioritization in Whole-Body Control

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