Abstract : We propose a framework to generate static robot configurations satisfying a set of physical and geometrical constraints. This is done by formulating nonlinear constrained optimization problems over non-Euclidean manifolds and solving them. To do so, we present a new sequential quadratic programming (SQP) solver working natively on general manifolds, and propose an interface to easily formulate the problems, with the tedious and error-prone work automated for the user. We also introduce several new types of constraints for having more complex contacts or working on forces/torques. Our approach allows an elegant mathematical description of the constraints and we exemplify it through formulation and computation examples in complex scenarios with humanoid robots.
https://hal.archives-ouvertes.fr/hal-01781204
Contributeur : Brossette Stanislas
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Soumis le : dimanche 29 avril 2018 - 18:10:27
Dernière modification le : mardi 12 février 2019 - 19:14:02
Document(s) archivé(s) le : mardi 25 septembre 2018 - 11:05:30
