Fast Resolution of Hierarchized Inverse Kinematics with Inequality Constraints

Adrien Escande (1) , Nicolas Mansard (2) , Pierre-Brice Wieber (3, 4)

1 LIST (CEA) - Laboratoire d'Intégration des Systèmes et des Technologies
2 LAAS-GEPETTO - Équipe Mouvement des Systèmes Anthropomorphes
3 CNRS-AIST JRL - Joint Robotics Laboratory
4 BIPOP - Modelling, Simulation, Control and Optimization of Non-Smooth Dynamical Systems

Classically, the inverse kinematics is performed by computing the singular value decomposition of the matrix to invert. This enables a very simple writing of the algorithm. However, the computation cost is high, especially when applied to complex robots and complex sets of constraints (typically around 5ms for 50 degrees of freedom -- DOF). In this paper, we propose a dedicated adaptation of quadratic programming that enables fast computations of the hierarchical inverse kinematics (around 0.1ms for 50~DOF). We then extend this algorithm to deal with unilateral constraints, obtaining sufficiently high performances for reactive control.

Mots clés: hierarchy of tasks; kinematics; redundancy; quadratic problem

Domaines: Robotique [cs.RO]

Adrien Escande, Nicolas Mansard, Pierre-Brice Wieber. Fast Resolution of Hierarchized Inverse Kinematics with Inequality Constraints. ICRA 2010 - IEEE International Conference on Robotics and Automation, May 2010, Anchorage, United States. pp.3733-3738, ⟨10.1109/ROBOT.2010.5509953⟩. ⟨hal-00484853⟩