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

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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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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