Skip to Main content Skip to Navigation
New interface
Conference papers

Generation of Dynamic Multi-Contact Motions: 2D case studies

Sébastien Lengagne 1, * Paul Mathieu 1 Abderrahmane Kheddar 2, * Eiichi Yoshida 1 
* Corresponding author
2 IDH - Interactive Digital Humans
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
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.
Document type :
Conference papers
Complete list of metadata

Cited literature [19 references]  Display  Hide  Download
Contributor : François Keith Connect in order to contact the contributor
Submitted on : Sunday, January 27, 2013 - 7:43:47 PM
Last modification on : Thursday, October 13, 2022 - 8:24:14 AM
Long-term archiving on: : Sunday, April 28, 2013 - 3:52:14 AM


Files produced by the author(s)




Sébastien Lengagne, Paul Mathieu, Abderrahmane Kheddar, Eiichi Yoshida. Generation of Dynamic Multi-Contact Motions: 2D case studies. Humanoids, Dec 2010, Nashville, TN, United States. pp.014-020, ⟨10.1109/ICHR.2010.5686836⟩. ⟨lirmm-00781554⟩



Record views


Files downloads