Decentralized planning for dynamic motion generation of multi-link robotic systems

  • Authors:

  • Yuichi Tazaki;Hisashi Sugiura;Herbert Janssen;Christian Goerick

  • Affiliations:

  • Department of Mechanical Science and Engineering, Nagoya University, Nagoya, Japan;Honda Research Institute Europe, Offenbach, Germany;Honda Research Institute Europe, Offenbach, Germany;Honda Research Institute Europe, Offenbach, Germany

  • Venue:
  • IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
  • Year:
  • 2009

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Abstract

This paper presents a decentralized planning method for generating dynamic whole body motions of multilink robots including humanoids. First, a robotic system will be modeled as a general multi-body dynamical system. The planning problem of a multi-body system will then be formulated as a constraint resolution problem. The problem will be solved by means of an extended Gauss-Seidel method, which is capable of handling multiple constraint groups with different priorities. The method will be demonstrated in whole-body motion generation tasks of a humanoid, both in numerical simulations and in experiments using a real humanoid robot.