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Geometric and Numerical Aspects of Redundancy

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Geometric and Numerical Foundations of Movements

Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 117))

Abstract

If some resources of a robot are redundant with respect to a given objective, they can be used to address other, additional objectives. Since the amount of resources required to realize a given objective can vary, depending on the situation, this gives rise to a limited form of decision making, when assigning resources to different objectives according to the situation. Such decision making emerges in case of conflicts between objectives, and these conflicts appear to be situations of linear dependency and, ultimately, singularity of the solutions. Using an elementary model of a mobile manipulator robot with two degrees of freedom, we show how standard resolution schemes behave unexpectedly and inefficiently in such situations. We propose then as a remedy to introduce carefully tuned artificial conflicts, in the form of a trust region.

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Authors and Affiliations

  1. INRIA Grenoble Rhône-Alpes, Montbonnot-Saint-Martin, France

    Pierre-Brice Wieber, Dimitar Dimitrov & Alexander Sherikov

  2. CNRS-AIST Joint Robotics Laboratory UMI3218/RL, Tsukuba, Japan

    Adrien Escande

Authors
  1. Pierre-Brice Wieber
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  2. Adrien Escande
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  3. Dimitar Dimitrov
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  4. Alexander Sherikov
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Corresponding author

Correspondence to Pierre-Brice Wieber .

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Editors and Affiliations

  1. LAAS-CNRS , Toulouse, France

    Jean-Paul Laumond

  2. LAAS-CNRS , Toulouse, France

    Nicolas Mansard

  3. LAAS-CNRS , Toulouse, France

    Jean-Bernard Lasserre

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Wieber, PB., Escande, A., Dimitrov, D., Sherikov, A. (2017). Geometric and Numerical Aspects of Redundancy. In: Laumond, JP., Mansard, N., Lasserre, JB. (eds) Geometric and Numerical Foundations of Movements . Springer Tracts in Advanced Robotics, vol 117. Springer, Cham. https://doi.org/10.1007/978-3-319-51547-2_4

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  • DOI: https://doi.org/10.1007/978-3-319-51547-2_4

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-51546-5

  • Online ISBN: 978-3-319-51547-2

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