학술논문
Generation of dynamic motion for anthropomorphic systems under prioritized equality and inequality constraints
Document Type
Conference
Author
Source
2011 IEEE International Conference on Robotics and Automation Robotics and Automation (ICRA), 2011 IEEE International Conference on. :1091-1096 May, 2011
Subject
Language
ISSN
1050-4729
Abstract
In this paper, we propose a solution to compute full-dynamic motions for a humanoid robot, accounting for various kinds of constraints such as dynamic balance or joint limits. As a first step, we propose a unification of task-based control schemes, in inverse kinematics or inverse dynamics. Based on this unification, we generalize the cascade of quadratic programs that were developed for inverse kinematics only. Then, we apply the solution to generate, in simulation, whole-body motions for a humanoid robot in unilateral contact with the ground, while ensuring the dynamic balance on a non horizontal surface.