Fast Resolution of Hierarchized Inverse Kinematics with Inequality Constraints

Adrien Escande 1 Nicolas Mansard 2 Pierre-Brice Wieber 3, 4
1 LIST - Laboratoire d'Intégration des Systèmes et des Technologies
2 LAAS-GEPETTO - Équipe Mouvement des Systèmes Anthropomorphes
LAAS - Laboratoire d'analyse et d'architecture des systèmes [Toulouse]
3 CNRS-AIST JRL - Joint Robotics Laboratory [France]
4 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 : Classically, the inverse kinematics is performed by computing the singular value decomposition of the matrix to invert. This enables a very simple writing of the algorithm. However, the computation cost is high, especially when applied to complex robots and complex sets of constraints (typically around 5ms for 50 degrees of freedom -- DOF). In this paper, we propose a dedicated adaptation of quadratic programming that enables fast computations of the hierarchical inverse kinematics (around 0.1ms for 50~DOF). We then extend this algorithm to deal with unilateral constraints, obtaining sufficiently high performances for reactive control.
Keywords : hierarchy of tasks kinematics redundancy quadratic problem
Type de document :
Communication dans un congrès
ICRA 2010 - IEEE International Conference on Robotics and Automation, May 2010, Anchorage, United States. pp.3733-3738, 2010, 〈10.1109/ROBOT.2010.5509953〉
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Adrien Escande, Nicolas Mansard, Pierre-Brice Wieber. Fast Resolution of Hierarchized Inverse Kinematics with Inequality Constraints. ICRA 2010 - IEEE International Conference on Robotics and Automation, May 2010, Anchorage, United States. pp.3733-3738, 2010, 〈10.1109/ROBOT.2010.5509953〉. 〈hal-00484853〉

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