Journal
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH
Volume 33, Issue 7, Pages 1006-1028Publisher
SAGE PUBLICATIONS LTD
DOI: 10.1177/0278364914521306
Keywords
Inverse kinematics; redundancy; task hierarchy; humanoid robot
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Funding
- RobotHow.cog EU CEC project [288533]
- French PSPC Romeo-2
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Hierarchical least-square optimization is often used in robotics to inverse a direct function when multiple incompatible objectives are involved. Typical examples are inverse kinematics or dynamics. The objectives can be given as equalities to be satisfied (e. g. point-to-point task) or as areas of satisfaction (e. g. the joint range). This paper proposes a complete solution to solve multiple least-square quadratic problems of both equality and inequality constraints ordered into a strict hierarchy. Our method is able to solve a hierarchy of only equalities 10 times faster than the iterative-projection hierarchical solvers and can consider inequalities at any level while running at the typical control frequency on whole-body size problems. This generic solver is used to resolve the redundancy of humanoid robots while generating complex movements in constrained environments.
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