Task-priority based redundancy control of robot manipulators
International Journal of Robotics Research
Inertial properties in robotic manipulation: an object-level framework
International Journal of Robotics Research
Convex Optimization
Interactive animation of dynamic manipulation
Proceedings of the 2006 ACM SIGGRAPH/Eurographics symposium on Computer animation
Multiobjective control with frictional contacts
SCA '07 Proceedings of the 2007 ACM SIGGRAPH/Eurographics symposium on Computer animation
Rigid Body Dynamics Algorithms
Rigid Body Dynamics Algorithms
Operational Space Control: A Theoretical and Empirical Comparison
International Journal of Robotics Research
Feature-based locomotion controllers
ACM SIGGRAPH 2010 papers
Modal-space control for articulated characters
ACM Transactions on Graphics (TOG)
Synthesis of concurrent object manipulation tasks
ACM Transactions on Graphics (TOG) - Proceedings of ACM SIGGRAPH Asia 2012
Interactive Character Animation Using Simulated Physics: A State-of-the-Art Review
Computer Graphics Forum
Compliant task-space control with back-drivable servo actuators
Robot Soccer World Cup XV
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We introduce an optimization framework called prioritized optimization control, in which a nested sequence of objectives are optimized so as not to conflict with higher-priority objectives. We focus on the case of quadratic objectives and derive an efficient recursive solver for this case. We show how task-space control can be formulated in this framework, and demonstrate the technique on three sample control problems. The proposed formulation supports acceleration, torque, and bilateral force constraints, while simplifying reasoning about task-space control. This scheme unifies prioritized task-space and optimization-based control. Our method computes control torques for all presented examples in real-time.