Progressive Cartesian Inequality Constraints for the Inverse Kinematic Control of Articulated Chains

Peinado, Manuel; Boulic, Ronan; Callennec, Benoit Le; Meziat, D.

Progressive Cartesian Inequality Constraints for the Inverse Kinematic Control of Articulated Chains

Files

093-096.pdf (943.67 KB)

demo_progressive_inequallity_constraint.avi (6.8 MB)

Date

2005

Authors

Peinado, Manuel
Boulic, Ronan
Callennec, Benoit Le
Meziat, D.

Publisher

The Eurographics Association

Abstract

We propose an Inverse Kinematic Control architecture capable of handling tasks that are expressed in terms of inequality constraints in the Cartesian space. These inequality constraints are progressive in the sense that their influence manifests itself in a zone of finite thickness by damping the progression toward the strict limit of the constraint. We show how to enforce this family of constraints in a two stage process with our prioritized IK sheme. Various examples highlight the potential of this approach for managing complex articulated chains in cluttered environments where obstacles are modelled with this type of constraints.

        @inproceedings{10.2312:egs.20051032
,
booktitle = {EG Short Presentations
},
editor = {John Dingliana and Fabio Ganovelli
},
title = {{Progressive Cartesian Inequality Constraints for the Inverse Kinematic Control of Articulated Chains
}},
author = {Peinado, Manuel and 
Boulic, Ronan and 
Callennec, Benoit Le and 
Meziat, D.
},
year = {2005
},
publisher = {The Eurographics Association
},
ISBN = {},
DOI = {10.2312/egs.20051032
}
}