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
Contributor : Brossette Stanislas
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Submitted on : Sunday, April 29, 2018 - 6:10:27 PM
Last modification on : Tuesday, February 12, 2019 - 7:14:02 PM
Document(s) archivé(s) le : Tuesday, September 25, 2018 - 11:05:30 AM
