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Article Dans Une Revue IEEE Transactions on Robotics Année : 2018

Multi-Contact Postures Computation on Manifolds

Stanislas Brossette
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Adrien Escande
Abderrahmane Kheddar

Résumé

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.
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Dates et versions

hal-01781204 , version 1 (29-04-2018)

Identifiants

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Stanislas Brossette, Adrien Escande, Abderrahmane Kheddar. Multi-Contact Postures Computation on Manifolds. IEEE Transactions on Robotics, 2018, 34 (5), pp.1252-1265. ⟨10.1109/TRO.2018.2830390⟩. ⟨hal-01781204⟩
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