Parsimonious Kinematic Control of Highly Redundant Robots

Viniçius Mariano Gonçalves 1, * Philippe Fraisse 2 André Crosnier 2 Bruno Vilhena Adorno 1
* Corresponding author
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.
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Viniçius Mariano Gonçalves, Philippe Fraisse, André Crosnier, Bruno Vilhena Adorno. Parsimonious Kinematic Control of Highly Redundant Robots. IEEE Robotics and Automation Letters, IEEE 2016, 1 (1), pp.65-72. ⟨10.1109/LRA.2015.2506259⟩. ⟨lirmm-01198399⟩

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