Prioritizing linear equality and inequality systems: application to local motion planning for redundant robots

Authors:
Oussama Kanoun;Florent Lamiraux;Pierre-Brice Wieber;Fumio Kanehiro;Eiichi Yoshida;Jean-Paul Laumond
Affiliations:
JRL, LAAS-CNRS, University of Toulouse, Toulouse, France;JRL, LAAS-CNRS, University of Toulouse, Toulouse, France;INRIA Grenoble, Saint Ismier Cedex, France;JRL, Research Institute of Intelligent Systems, National Institute of Advanced Industrial Science and Technology, Tsukuba, Ibaraki, Japan;JRL, Research Institute of Intelligent Systems, National Institute of Advanced Industrial Science and Technology, Tsukuba, Ibaraki, Japan;JRL, LAAS-CNRS, University of Toulouse, Toulouse, France
Venue:
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Year:
2009

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Abstract

We present a novel method for prioritizing both linear equality and inequality systems and provide one algorithm for its resolution. This algorithm can be summarized as a sequence of optimal resolutions for each linear system following their priority order. We propose an optimality criterion that is adapted to linear inequality systems and characterize the resulting optimal sets at every priority level. We have successfully applied our method to plan local motions for the humanoid robot HPR-2. We will demonstrate the validity of the method using an original scenario where linear inequality constraints are solved at lower priority than equality constraints.