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Escande, Adrien; Mansard, Nicolas; Wieber, Pierre-Brice
The International journal of robotics research, 06/2014, Letnik: 33, Številka: 7Journal Article
Hierarchical least-square optimization is often used in robotics to inverse a direct function when multiple incompatible objectives are involved. Typical examples are inverse kinematics or dynamics. The objectives can be given as equalities to be satisfied (e.g. point-to-point task) or as areas of satisfaction (e.g. the joint range). This paper proposes a complete solution to solve multiple least-square quadratic problems of both equality and inequality constraints ordered into a strict hierarchy. Our method is able to solve a hierarchy of only equalities 10 times faster than the iterative-projection hierarchical solvers and can consider inequalities at any level while running at the typical control frequency on whole-body size problems. This generic solver is used to resolve the redundancy of humanoid robots while generating complex movements in constrained environments.
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Leto | Faktor vpliva | Izdaja | Kategorija | Razvrstitev | ||||
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JCR | SNIP | JCR | SNIP | JCR | SNIP | JCR | SNIP |
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