Geometric and numerical aspects of redundancy

Pierre-Brice Wieber 1 Adrien Escande 2 Dimitar Dimitrov 1 Alexander Sherikov 1
1 BIPOP - Modelling, Simulation, Control and Optimization of Non-Smooth Dynamical Systems
Inria Grenoble - Rhône-Alpes, LJK - Laboratoire Jean Kuntzmann, INPG - Institut National Polytechnique de Grenoble
Abstract : If some resources of a robot are redundant with respect to a given objective, they can be used to address other, additional objectives. Since the amount of resources required to realize a given objective can vary, depending on the situation, this gives rise to a limited form of decision making, when assigning resources to different objectives according to the situation. Such decision making emerges in case of conflicts between objectives, and these conflicts appear to be situations of linear dependency and, ultimately, singularity of the solutions. Using an elementary model of a mobile manipulator robot with two degrees of freedom, we show how standard resolution schemes behave unexpectedly and inefficiently in such situations. We propose then as a remedy to introduce carefully tuned artificial conflicts, in the form of a trust region.
Type de document :
Chapitre d'ouvrage
Geometric and Numerical Foundations of Movements, 2017
Liste complète des métadonnées

Littérature citée [14 références]  Voir  Masquer  Télécharger
Contributeur : Alexander Sherikov <>
Soumis le : vendredi 16 décembre 2016 - 17:22:14
Dernière modification le : mercredi 11 avril 2018 - 01:57:54
Document(s) archivé(s) le : lundi 20 mars 2017 - 19:41:51


Fichiers produits par l'(les) auteur(s)


  • HAL Id : hal-01418462, version 1


Pierre-Brice Wieber, Adrien Escande, Dimitar Dimitrov, Alexander Sherikov. Geometric and numerical aspects of redundancy. Geometric and Numerical Foundations of Movements, 2017. 〈hal-01418462〉



Consultations de la notice


Téléchargements de fichiers