3D robust stability polyhedron in multi-contact

Abstract : We propose algorithms to compute the 3D robust stability region in multi-contact. It is well known that the stability region is a product of convex cones and hence is a convex polyhedron. Our stability region extends existing recursive 2D static stability approaches to 3D by accounting for possible center of mass accelerations. We provide algorithms that construct the region of robust stability in a systematic way. We compare our algorithms and discuss possible computation of intermediary shapes using morphing. Finally, we provide an example of usage in generating robust static postures that can serve the purpose of multi-contact planning.
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Pré-publication, Document de travail
Submitted to IEEE Transactions On Robotics. 2017
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-01477362
Contributeur : Hervé Audren <>
Soumis le : lundi 27 février 2017 - 12:44:07
Dernière modification le : jeudi 11 janvier 2018 - 06:27:07
Document(s) archivé(s) le : dimanche 28 mai 2017 - 13:08:53

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  • HAL Id : lirmm-01477362, version 1

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Hervé Audren, Abderrahmane Kheddar. 3D robust stability polyhedron in multi-contact. Submitted to IEEE Transactions On Robotics. 2017. 〈lirmm-01477362〉

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