Kinematic control of redundant manipulators: Generalizing the task-priority framework to inequality task

IEEE Transactions on Robotics

Volumn 27, Issue 4, 2011, Pages 785-792

  Kanoun, Oussama ^a   Lamiraux, Florent ^b   Wieber, Pierre Brice ^c  

^a UNIVERSITY OF TOKYO   (Japan)

^b LAAS CNRS   (France)

^c INRIA Grenoble   (France)

Author keywords

Control; hierarchy; humanoid robot; inequality constraints; inverse kinematics; redundancy; task priority

Indexed keywords

EQUALITY CONSTRAINTS; HIERARCHY; HUMANOID ROBOT; INEQUALITY CONSTRAINT; KINEMATIC CONTROL; LEAST SQUARE; MECHANICAL SYSTEMS; MULTIPLE TASKS; OPTIMAL SETS; POTENTIAL FIELD; PRIORITY TASKS; QUADRATIC PROGRAMS; ROBOT CONFIGURATIONS; TASK PRIORITY;

ALGORITHMS; ANTHROPOMORPHIC ROBOTS; CONSTRAINT THEORY; ORDINARY DIFFERENTIAL EQUATIONS;

INVERSE KINEMATICS;

EID: 80051693426     PISSN: 15523098     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRO.2011.2142450     Document Type: Article

References (18)

1. O. Khatib, "The potential field approach and operational space formulation in robot control," in Adaptive and Learning Systems: Theory and Applications., New York: Plenum, 1986, pp. 367-377. (Pubitemid 17644174)
2. Y. Koren and J. Borenstein, "Potential field methods and their inherent limitations for mobile robot navigation," in Proc. IEEE Int. Conf. Robot. Autom., 1991, pp. 1398-1404. (Pubitemid 21717107)
3. B. Faverjon and P. Tournassoud, "A local based approach for path planning of manipulators with a high number of degrees of freedom," in Proc. IEEE Int. Conf. Robot. Autom., 1987, vol. 4, pp. 1152-1159. (Pubitemid 17595650)
4. Y. Nakamura, Advanced Robotics: Redundancy and Optimization. Boston, MA: Addison-Wesley, 1990.
5. B. Siciliano and J. Slotine, "A general framework for managing multiple tasks in highly redundantrobotic systems," in Proc. Int. Conf. Adv. Robot., 1991, pp. 1211-1216.
6. A° . Björck, Numerical Methods for Least Squares Problems. Philadelphia, PA: SIAM, 1996.
7. N. Mansard and F. Chaumette, "Task sequencing for high-level sensorbased control," IEEE Trans. Robot., vol. 23, no. 1, pp. 60-72, Feb. 2007. (Pubitemid 46443342)
8. L. Sentis and O. Khatib, "Control of Free-Floating Humanoid Robots Through Task Prioritization," in Proc. IEEE Int. Conf. Robot. Autom., 2005, pp. 1718-1723. (Pubitemid 46084036)
9. G. Antonelli, G. Indiveri, and S. Chiaverini, "Prioritized closed-loop inverse kinematic algorithms for redundant robotic systems with velocity saturations," in Proc. IEEE/RSJ Int. Conf. Intell. Robots Syst., 2009, pp. 5892-5897.
10. R. Fletcher, Practical Methods of Optimization, 2nd ed. New York: Wiley, 1987.
11. M. Peinado, R. Boulic, B. Le Callennec, andD.Meziat, "Progressive cartesian inequality constraints for the inverse kinematic control of articulated chains," in Proc. Eurographics, 2005, pp. 93-96.
12. A. Líegeois, "Automatic supervisory control of the configuration and behavior of multibody mechanisms," IEEE Trans. Syst., Man, Cybern., vol. SMC-7, no. 12, pp. 868-871, Dec. 1977. (Pubitemid 8572357)
13. N. Mansard, O. Khatib, and A. Kheddar, "A unified approach to integrate unilateral constraints in the stack of tasks," IEEE Trans. Robot., vol. 25, no. 3, pp. 670-685, Jun. 2009.
14. Y. Nakamura and H. Hanafusa, "Inverse kinematic solutions with singularity robustness for robot manipulator control," J. Dyn. Syst., Meas., Control, vol. 108, no. 3, pp. 163-171, 1986. (Pubitemid 16633971)
15. A. Fiacco and G. McCormick, Nonlinear Programming: Sequential Unconstrained Minimization Techniques. (ser. Classics in Applied Mathematics). Philadelphia, PA: Soc. Ind. Math., 1987.
16. W. Decŕe, R. Smits, H. Bruyninckx, and J. De Schutter, "Extending iTaSC to support inequality constraints and non-instantaneous task specification," in Proc. IEEE Int. Conf. Robot. Autom., 2009, pp. 964-971.
17. K. Schittkowski, "QLD: A FORTRAN code for quadratic programming, users guide," Mathematisches Institut, Univ., Bayreuth, Bayreuth, Germany, Tech. Rep., 1986.
18. A. Escande,N.Mansard, and P.-B.Wieber, "Fast resolution of hierarchized inverse kinematics with inequality constraints," in Proc. IEEE Int. Conf. Robot. Autom., May 3-7, 2010, pp. 3733-3738.