HAL - INRIA :: [inria-00390581, version 1] Prioritizing linear equality and inequality systems: application to local motion planning for redundant robots

inria-00390581, version 1

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

Oussama Kanoun ¹, Florent Lamiraux () ¹, Pierre-Brice Wieber ()^a^, 2, 3, Fumio Kanehiro ⁴, Eiichi Yoshida () ³, Jean-Paul Laumond () ¹

IEEE International Conference on Robotics & Automation (2009) inconnu

Résumé : We present a novel method for prioritizing both linear equality and inequality systems and provide one algo- rithm 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 result- ing 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.

a – INRIA
1 : Laboratoire d'analyse et d'architecture des systèmes (LAAS)
CNRS : UPR8001 – Université Paul Sabatier - Toulouse III – Institut National Polytechnique de Toulouse - INPT – Institut National des Sciences Appliquées de Toulouse
2 : BIPOP (INRIA Grenoble Rhône-Alpes / LJK Laboratoire Jean Kuntzmann)
INRIA – Laboratoire Jean Kuntzmann
3 : Joint Japanese-French Robotics Laboratory (JRL)
AIST – CNRS : UMR
4 : National Institute of Advanced Industrial Science and Technology (AIST)
National Institute of Advanced Industrial Science and Technology

inria-00390581, version 1
http://hal.inria.fr/inria-00390581
oai:hal.inria.fr:inria-00390581
Contributeur : Pierre-Brice Wieber <>
Soumis le : Mardi 2 Juin 2009, 14:25:50
Dernière modification le : Mercredi 19 Janvier 2011, 16:48:33

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