Generation of dynamic multi-contact motions: 2D case studies
Sébastien Lengagne, Paul Mathieu, Abderrahmane Kheddar, Eiichi Yoshida · 2010
HAL is a multi-disciplinary open access archive for the deposit and dissemination of sci-entific research documents, whether they are pub-lished or not. The documents may come from teaching and research institutions in France or abroad, or from public or private research centers. L’archive ouverte pluridisciplinaire HAL, est destinée au dépôt et a ̀ la diffusion de documents scientifiques de niveau recherche, publiés ou non, émanant des établissements d’enseignement et de recherche français ou étrangers, des laboratoires publics ou privés. Generation of Dynamic Multi-Contact Motions: 2D case studies Sébastien Lengagne, Paul Mathieu, Abderrahmane Kheddar and Eiichi Yoshida Abstract — We present a multi-contact motion planning method that generates dynamic joint trajectories for multi-body robots that satisfy a set of continuous constraints. We highlight two variants when it comes to generate a single-contact or a multi-contact motion: the presence of the continuous equality geometrical constraints and of the contact forces. In this work, we compute the free-flyer trajectory and the contact forces from the joint trajectories provided by the optimization process. We assess our method on three dynamical multi-contact motions with 2D models. The comparison with intuitive adaptations of the single-contact motion planning methods shows the effectiveness of our method. Index Terms — Continuous constraint, multi-contact motion, dynamic motion, contact forces.