Time-Optimal Path Parameterization for Redundantly Actuated Robots: A Numerical Integration Approach

Time-optimal path parameterization (TOPP) under actuation bounds plays a fundamental role in many robotic theories and applications. This algorithm was first developed and perfected for classical serial robotic manipulators whose actuation is nonredundant. Yet, redundantly actuated systems, such as parallel manipulators or humanoid robots in multicontact tasks, are increasingly common in all fields of robotics. Here, we extend the classical algorithm of TOPP (a.k.a. numerical integration approach) to the case of redundantly actuated systems. As illustration, we present an application to multicontact trajectory planning for a humanoid robot.