Kinematic control of redundant manipulators: generalizing the task priority framework to inequality tasks

Oussama Kanoun; Florent Lamiraux; Pierre-Brice Wieber

hal-00486755, version 2

Kinematic control of redundant manipulators: generalizing the task priority framework to inequality tasks

Oussama Kanoun ( Auteur à contacter de préférence ) ^1, 2, Florent Lamiraux () ², Pierre-Brice Wieber () ^3, 4

IEEE Transactions on Robotics 27, 4 (2011) 785-792

Résumé : The redundant mechanical systems like humanoid robots are designed to fulfill multiple tasks at a time. A task, in velocity-resolved inverse kinematics, is a desired value for a function of the robot configuration that can be regulated with an Ordinary Differential Equation. When facing simultaneous tasks, the corresponding equations can be grouped in a single system, or better, sorted in priority and solved each in the solutions set of higher priority tasks. This elegant framework for hierarchical task regulation has been implemented as a sequence of Least Squares problems. Its limitation lies in the handling of inequality constraints, which are usually transformed into more restrictive equality constraints through potential fields. In this paper, we propose a new prioritized task regulation framework based on a sequence of quadratic programs (QP) that removes the limitation. At the basis of the proposed algorithm is a study of the optimal sets resulting from the sequence of QPs. The algorithm is implemented and illustrated in simulation on the humanoid robot HRP-2.

1 : Nakamura Laboratory (Department of Mechano-Informatics)
University of Tokyo
2 : Laboratoire d'analyse et d'architecture des systèmes (LAAS)
CNRS : UPR8001 – Université Paul Sabatier [UPS] - Toulouse III – Institut National Polytechnique de Toulouse - INPT – Institut National des Sciences Appliquées (INSA) - Toulouse
3 : Joint Robotics Laboratory AIST & CNRS (JRL)
AIST – CNRS : UMI3218
4 : BIPOP (INRIA Grenoble Rhône-Alpes / LJK Laboratoire Jean Kuntzmann)
INRIA – Laboratoire Jean Kuntzmann

Collaboration : Zeuxis

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http://hal.archives-ouvertes.fr/hal-00486755
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Contributeur : Oussama Kanoun <>
Soumis le : Mercredi 1 Juin 2011, 07:39:45
Dernière modification le : Jeudi 9 Mai 2013, 17:19:10

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DOI : 10.1109/TRO.2011.2142450

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%% hal-00486755, version 2
%% http://hal.archives-ouvertes.fr/hal-00486755
@article{kanoun:hal-00486755,
    hal_id = {hal-00486755},
    url = {http://hal.archives-ouvertes.fr/hal-00486755},
    title = {{Kinematic control of redundant manipulators: generalizing the task priority framework to inequality tasks}},
    author = {Kanoun, Oussama and Lamiraux, Florent and Wieber, Pierre-Brice},
    abstract = {{The redundant mechanical systems like humanoid robots are designed to fulfill multiple tasks at a time. A task, in velocity-resolved inverse kinematics, is a desired value for a function of the robot configuration that can be regulated with an Ordinary Differential Equation. When facing simultaneous tasks, the corresponding equations can be grouped in a single system, or better, sorted in priority and solved each in the solutions set of higher priority tasks. This elegant framework for hierarchical task regulation has been implemented as a sequence of Least Squares problems. Its limitation lies in the handling of inequality constraints, which are usually transformed into more restrictive equality constraints through potential fields. In this paper, we propose a new prioritized task regulation framework based on a sequence of quadratic programs (QP) that removes the limitation. At the basis of the proposed algorithm is a study of the optimal sets resulting from the sequence of QPs. The algorithm is implemented and illustrated in simulation on the humanoid robot HRP-2.}},
    keywords = {Inverse kinematics; inequality constraints; task priority; hierarchy; redundancy; control; humanoid robot},
    language = {Anglais},
    affiliation = {Nakamura Laboratory - Department of Mechano-Informatics , Laboratoire d'analyse et d'architecture des syst{\`e}mes - LAAS , Joint Robotics Laboratory AIST \& CNRS - JRL , BIPOP - INRIA Grenoble Rh{\^o}ne-Alpes / LJK Laboratoire Jean Kuntzmann},
    pages = {785-792},
    journal = {IEEE Transactions on Robotics},
    volume = {27},
    number = {4 },
    note = {Rapport LAAS n\degre 11363 Rapport LAAS n\degre 11363 EADS Corporate Research Foundation. Marie Curie International Outgoing Fellowship. JSPS Postdoctoral Fellowship for Foreign Researchers. },
    audience = {internationale },
    collaboration = {Zeuxis },
    doi = {10.1109/TRO.2011.2142450 },
    year = {2011},
    month = Aug,
    pdf = {http://hal.archives-ouvertes.fr/hal-00486755/PDF/Kanoun2011.pdf},
}

%F hal-00486755, version 2
%0 Journal Article
%U http://hal.archives-ouvertes.fr/hal-00486755
%2 INFO:INFO_RB
%T Kinematic control of redundant manipulators: generalizing the task priority framework to inequality tasks
%A Kanoun, Oussama
%A Lamiraux, Florent
%A Wieber, Pierre-Brice
%+ Nakamura Laboratory - Department of Mechano-Informatics , Laboratoire d'analyse et d'architecture des systèmes - LAAS , Joint Robotics Laboratory AIST & CNRS - JRL , BIPOP - INRIA Grenoble Rhône-Alpes / LJK Laboratoire Jean Kuntzmann
%Z LAAS-GEPETTO
%X The redundant mechanical systems like humanoid robots are designed to fulfill multiple tasks at a time. A task, in velocity-resolved inverse kinematics, is a desired value for a function of the robot configuration that can be regulated with an Ordinary Differential Equation. When facing simultaneous tasks, the corresponding equations can be grouped in a single system, or better, sorted in priority and solved each in the solutions set of higher priority tasks. This elegant framework for hierarchical task regulation has been implemented as a sequence of Least Squares problems. Its limitation lies in the handling of inequality constraints, which are usually transformed into more restrictive equality constraints through potential fields. In this paper, we propose a new prioritized task regulation framework based on a sequence of quadratic programs (QP) that removes the limitation. At the basis of the proposed algorithm is a study of the optimal sets resulting from the sequence of QPs. The algorithm is implemented and illustrated in simulation on the humanoid robot HRP-2.
%G Anglais
%2 2010-05-25
%R 10.1109/TRO.2011.2142450
%J IEEE Transactions on Robotics
%2 internationale
%8 2011-08-00
%V 27
%N 4
%P 785-792
%K Inverse kinematics; inequality constraints; task priority; hierarchy; redundancy; control; humanoid robot
%Z Rapport LAAS n° 11363
%Z Zeuxis
%Z EADS Corporate Research Foundation. Marie Curie International Outgoing Fellowship. JSPS Postdoctoral Fellowship for Foreign Researchers.
%2 7478
%2 81912

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