{"id":750,"date":"2015-11-23T10:45:59","date_gmt":"2015-11-23T09:45:59","guid":{"rendered":"http:\/\/janela2.lirmm.fr\/~fraisse\/?p=750"},"modified":"2018-01-10T10:14:15","modified_gmt":"2018-01-10T09:14:15","slug":"ieee-ra-l-2016","status":"publish","type":"post","link":"https:\/\/www.lirmm.fr\/~fraisse\/archives\/750","title":{"rendered":"IEEE RA-L 2016"},"content":{"rendered":"<h3 style=\"text-align: justify;\"><strong>Parsimonious Kinematic Control of Highly Redundant Robots\u00a0<\/strong><\/h3>\n<p style=\"text-align: justify;\">(IEEE RA-L, 2016):\u00a0When a robot is highly redundant in comparison to the task to be executed, current control techniques are not &#8220;economic&#8221; in the sense that they demand, most of the time unnecessarily, all the joints to move. Such behavior can be undesirable for some applications. In this direction, this work proposes a new control paradigm based on linear programming that intrinsically provides a parsimonious control strategy, that is, one in which few joints move. In addition to a formal stability proof, the paper presents simulation and experimental results on the HOAP-3 humanoid robot. Finally, a comparison is made with a least-square method based on the pseudoinverse of the task Jacobian, showing that the proposed method indeed uses fewer joints than the classic one.<\/p>\n<ul class=\"papercite_bibliography\">\n<li>         <a href=\"http:\/\/hal-lirmm.ccsd.cnrs.fr\/lirmm-01198399\/file\/Parsimonious_kinematic_control_2015_VMG_PF_AC_BVA.pdf\" title='Download PDF' class='papercite_pdf'><img src='http:\/\/www.lirmm.fr\/~fraisse\/wp-content\/plugins\/papercite\/img\/pdf.png' alt=\"[PDF]\"\/><\/a>   <a href='http:\/\/dx.doi.org\/10.1109\/LRA.2015.2506259' class='papercite_doi' title='View document on publisher site'><img src='http:\/\/www.lirmm.fr\/~fraisse\/wp-content\/plugins\/papercite\/img\/external.png' width='10' height='10' alt='[DOI]' \/><\/a>           V. Mariano Gon\u00e7alves, P. Fraisse, A. Crosnier, and B. V. Adorno. Parsimonious Kinematic Control of Highly Redundant Robots. <em>IEEE Robotics and Automation Letters<\/em>, 1:65-72, January 2016. (Selected for oral presentation at ICRA 2016) <br \/>    <a href=\"javascript:void(0)\" id=\"papercite_0\" class=\"papercite_toggle\">[Bibtex]<\/a>\n<div class=\"papercite_bibtex\" id=\"papercite_0_block\">\n<pre><code class=\"tex bibtex\">@article{marianogoncalves:lirmm-01198399,\nTITLE = {{Parsimonious Kinematic Control of Highly Redundant Robots}},\nAUTHOR = {Mariano Gon{\\c c}alves, V. and Fraisse, P. and Crosnier, A. and Adorno, B. V.},\nURL = {http:\/\/hal-lirmm.ccsd.cnrs.fr\/lirmm-01198399},\nJOURNAL = {{IEEE Robotics and Automation Letters}},\nINSTITUTION = {{LIRMM ; CNRS ; Universit{\\'e} de Montpellier ; Universidade Federal Minas Gerais}},\nYEAR = {2016},\nMONTH = {January},\nvolume={1},\npages={65-72},\nnote={(Selected for oral presentation at ICRA 2016)},\ndoi={10.1109\/LRA.2015.2506259},\nkeywords={redundant systems},\nPDF = {http:\/\/hal-lirmm.ccsd.cnrs.fr\/lirmm-01198399\/file\/Parsimonious_kinematic_control_2015_VMG_PF_AC_BVA.pdf},\nHAL_ID = {lirmm-01198399},\nHAL_VERSION = {v1},\n}<\/code><\/pre>\n<\/div>\n<\/li>\n<\/ul>\n<p><iframe loading=\"lazy\" src=\"https:\/\/www.youtube.com\/embed\/RBRcosyy1j4\" width=\"500\" height=\"350\" frameborder=\"0\" allowfullscreen=\"allowfullscreen\"><\/iframe><\/p>\n","protected":false},"excerpt":{"rendered":"<p>Parsimonious Kinematic Control of Highly Redundant Robots\u00a0 (IEEE RA-L, 2016):\u00a0When a robot is highly redundant in comparison to the task to be executed, current control techniques are not &#8220;economic&#8221; in the sense that they demand, most of the time unnecessarily, &hellip; <a href=\"https:\/\/www.lirmm.fr\/~fraisse\/archives\/750\">Continue reading <span class=\"meta-nav\">&rarr;<\/span><\/a><\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"aside","meta":[],"categories":[10],"tags":[],"_links":{"self":[{"href":"https:\/\/www.lirmm.fr\/~fraisse\/wp-json\/wp\/v2\/posts\/750"}],"collection":[{"href":"https:\/\/www.lirmm.fr\/~fraisse\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/www.lirmm.fr\/~fraisse\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/www.lirmm.fr\/~fraisse\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/www.lirmm.fr\/~fraisse\/wp-json\/wp\/v2\/comments?post=750"}],"version-history":[{"count":25,"href":"https:\/\/www.lirmm.fr\/~fraisse\/wp-json\/wp\/v2\/posts\/750\/revisions"}],"predecessor-version":[{"id":851,"href":"https:\/\/www.lirmm.fr\/~fraisse\/wp-json\/wp\/v2\/posts\/750\/revisions\/851"}],"wp:attachment":[{"href":"https:\/\/www.lirmm.fr\/~fraisse\/wp-json\/wp\/v2\/media?parent=750"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.lirmm.fr\/~fraisse\/wp-json\/wp\/v2\/categories?post=750"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.lirmm.fr\/~fraisse\/wp-json\/wp\/v2\/tags?post=750"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}