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Conference papers
Generation of Dynamic Multi-Contact Motions: 2D case studies
Abstract : We present a multi-contact motion planning method that generates dynamic joint trajectories for multi-body robots that satisfy a set of continuous constraints. We highlight two variants when it comes to generate a single-contact or a multi-contact motion: the presence of the continuous equality geometrical constraints and of the contact forces. In this work, we compute the free-flyer trajectory and the contact forces from the joint trajectories provided by the optimization process. We assess our method on three dynamical multi-contact motions with 2D models. The comparison with intuitive adaptations of the single-contact motion planning methods shows the effectiveness of our method.
Cited literature [19 references]
https://hal-lirmm.ccsd.cnrs.fr/lirmm-00781554
Contributor : François Keith <>
Submitted on : Sunday, January 27, 2013 - 7:43:47 PM
Last modification on : Tuesday, June 18, 2019 - 12:06:37 PM
Document(s) archivé(s) le : Sunday, April 28, 2013 - 3:52:14 AM
Contributor : François Keith <>
Submitted on : Sunday, January 27, 2013 - 7:43:47 PM
Last modification on : Tuesday, June 18, 2019 - 12:06:37 PM
Document(s) archivé(s) le : Sunday, April 28, 2013 - 3:52:14 AM
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2010_humanoids_lengagne.pdf
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