Parsimonious Kinematic Control of Highly Redundant RobotsReportar como inadecuado




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* Corresponding author 1 Universidade federal de Minas Gerais - UFMG BRAZIL 2 IDH - Interactive Digital Humans LIRMM - Laboratoire d-Informatique de Robotique et de Microélectronique de Montpellier

Abstract : When a robot is highly redundant in comparison to the task to be executed, current control techniques are not - economic - in the sense that they demand, most of the time unnecessarily, all the joints to move. Such behavior can be undesirable for some applications. In this direction, this work proposes a new control paradigm based on linear programming that intrinsically provides a parsimonious control strategy, that is, one in which few joints move. In addition to a formal stability proof, the paper presents simulation and experimental results on the HOAP-3 humanoid robot. Finally, a comparison is made with a least-square method based on the pseudoinverse of the task Jacobian, showing that the proposed method indeed uses fewer joints than the classic one.

Keywords : Redundant Robots Humanoid Robots Kinematics Optimization and Optimal Control





Autor: Viniçius Mariano Gonçalves - Philippe Fraisse - André Crosnier - Bruno Vilhena Adorno -

Fuente: https://hal.archives-ouvertes.fr/



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