.png){kind=icon}
.png){kind=icon}
Return
Multicontact Postures Computation on Manifolds
.png){kind=icon}
OA
AI
DOI：10.1109/TRO.2018.2830390.png)
.png){kind=icon}
.png){kind=icon}
Share.png){kind=icon}
Save
Abstract
En 中文
We propose a framework to generate static robot configurations satisfying a set of physical and geometrical constraints. This is done by formulating nonlinear constrained optimization problems over non-Euclidean manifolds and solving them. To do so, we present a new sequential quadratic programming solver working natively on general manifolds and propose an interface to easily formulate the problems, with the tedious and error-prone work automated for the user. We also introduce several new types of constraints for having more complex contacts or working on forces/torques. Our approach allows an elegant mathematical description of the constraints and we exemplify it through formulation and computation examples in complex scenarios with humanoid robots.
Keywords:
Contacts
optimization on manifolds
posture computation
robotics
AI Summary
Key information extracted from the uploaded paper, including a brief overview, abstract, background, key highlights, visual analysis, and future outlook.
Journal
IF:
10.5
Papers:
3.3K
Citations:
2.8W