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

Oussama Kanoun 1 Florent Lamiraux 2 Pierre-Brice Wieber 3, 4 Fumio Kanehiro 5 Eiichi Yoshida 4 Jean-Paul Laumond 1
1 LAAS-GEPETTO - Équipe Mouvement des Systèmes Anthropomorphes
LAAS - Laboratoire d'analyse et d'architecture des systèmes
3 BIPOP - Modelling, Simulation, Control and Optimization of Non-Smooth Dynamical Systems
Inria Grenoble - Rhône-Alpes, LJK [2007-2015] - Laboratoire Jean Kuntzmann [2007-2015], Grenoble INP [2007-2019] - Institut polytechnique de Grenoble - Grenoble Institute of Technology [2007-2019]
Abstract : 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.
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https://hal.inria.fr/inria-00390581
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Submitted on : Tuesday, June 2, 2009 - 2:25:50 PM
Last modification on : Friday, July 17, 2020 - 11:38:57 AM
Long-term archiving on: : Monday, October 15, 2012 - 11:36:21 AM

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Oussama Kanoun, Florent Lamiraux, Pierre-Brice Wieber, Fumio Kanehiro, Eiichi Yoshida, et al.. Prioritizing linear equality and inequality systems: application to local motion planning for redundant robots. ICRA 2009 - IEEE International Conference on Robotics & Automation, May 2009, Kobe, Japan. pp.2939-2944, ⟨10.1109/ROBOT.2009.5152293⟩. ⟨inria-00390581⟩

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