Chapter 67 — Humanoids

Dynamic multicontact motion

A method to plan optimal whole-body, dynamic motion in multicontact non-gaited transitions has been developed. Using a B-spline time parameterization for the active joints, we turn the motion-planning problem into a semi-infinite programming formulation which is solved by nonlinear optimization techniques. We address the problem of the balance within the optimization problem and demonstrate that generating whole-body multicontact dynamic motion for complex tasks is possible.
Eiichi Yoshida
Thanks to Sebastien Lengagne and Abderrahmane Kheddar who mainly conducted the research on multi-contact dynamic motion.