Prioritizing linear equality and inequality systems: application to local motion planning for redundant robots

International audienceWe present a novel method for prioritizing both linear equality and inequality systems and provide one algo- rithm for its resolution. This algorithm can be summarized as a sequence of optimal resolutions for each linear system following their priority order. We propose an optimality criterion that is adapted to linear inequality systems and characterize the result- ing optimal sets at every priority level. We have successfully applied our method to plan local motions for the humanoid robot HPR-2. We will demonstrate the validity of the method using an original scenario where linear inequality constraints are solved at lower priority than equality constraints