Multi-Contact Motion Generation: Continuous Constraints and Contact Forces

Autor:	Lengagne, Sebastien, Mathieu, Paul, Kheddar, Abderrahmane, Yoshida, Eiichi
Přispěvatelé:	Institut Pascal (IP), SIGMA Clermont (SIGMA Clermont)-Université Clermont Auvergne [2017-2020] (UCA [2017-2020])-Centre National de la Recherche Scientifique (CNRS)
Jazyk:	angličtina
Rok vydání:	2010
Předmět:	contact forces Taylor Polynomials continuous constraints contact forces continuous constraints Taylor Polynomials [SPI.AUTO]Engineering Sciences [physics]/Automatic
Zdroj:	28th annual conference of the Robotics Society of Japan (RSJ) 28th annual conference of the Robotics Society of Japan (RSJ), Sep 2010, Nagoya, Japan
Popis:	This paper proposes a new computation method to plan multi-contact motions. The first problem is to deal with continuous equality and inequality constraint which rely on the physical limits of the robot and on the properties of the desired motion. The second problem in the modeling of a multi-contact motion is the indetermination relative to the contact forces. We propose a method to compute them from the contact stance and form the joint trajectories.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=od______2885::ea86487658267b2a534e6e06f6363428 https://hal.science/hal-03935634/file/Lengagne_RSJ2010.pdf Zobrazit plný text záznamu