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

— 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.

• Type: Conference
• Year: 2009
• Where: IROS
• Authors: Yuichi Tazaki, Hisashi Sugiura, Herbert Janssen, Christian Goerick
• Keywords: Constraint Resolution Problem, Decentralized Planning Method, IROS 2009, Multi-body Dynamical System, Robotics