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.
https://hal-lirmm.ccsd.cnrs.fr/lirmm-00781554
Contributor : François Keith
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Submitted on : Sunday, January 27, 2013 - 7:43:47 PM
Last modification on : Tuesday, February 12, 2019 - 7:14:02 PM
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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⟩
