Multi-Contact Postures Computation on Manifolds

Stanislas Brossette 1 Adrien Escande 2 Abderrahmane Kheddar 3
3 IDH - Interactive Digital Humans
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
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.
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Stanislas Brossette, Adrien Escande, Abderrahmane Kheddar. Multi-Contact Postures Computation on Manifolds. IEEE Transactions on Robotics, IEEE, 2018, 34 (5), pp.1252-1265. ⟨10.1109/TRO.2018.2830390⟩. ⟨hal-01781204⟩



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