A unified approach to integrate unilateral constraints in the stack of tasks
IEEE Transactions on Robotics - Special issue on rehabilitation robotics
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
IEEE Transactions on Robotics
Steering a humanoid robot by its head
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Intercontinental, multimodal, wide-range tele-cooperation using a humanoid robot
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Task selection for control of active vision systems
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Contact planning for acyclic motion with tasks constraints
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Control of redundant robots using learned models: an operational space control approach
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Optimization of tasks warping and scheduling for smooth sequencing of robotic actions
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Task selection for control of active-vision systems
IEEE Transactions on Robotics
IEEE Transactions on Robotics
Switching control approach for stable navigation of mobile robots in unknown environments
Robotics and Computer-Integrated Manufacturing
Planning foot placements for a humanoid robot: A problem of inverse kinematics
International Journal of Robotics Research
Shortest Length Paths for a Differential Drive Robot Keeping a set of Landmarks in Sight
Journal of Intelligent and Robotic Systems
Robotics and Autonomous Systems
Motion planning for maintaining landmarks visibility with a differential drive robot
Robotics and Autonomous Systems
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Classical sensor-based approaches tend to constrain all the degrees of freedom of a robot during the execution of a task. In this paper, a new solution is proposed. The key idea is to divide the global full-constraining task into several subtasks, which can be applied or inactivated to take into account potential constraints of the environment. Far from any constraint, the robot moves according to the full task. When it comes closer to a configuration to avoid, a higher level controller removes one or several subtasks, and activates them again when the constraint is avoided. The last controller ensures the convergence at the global level by introducing some look-ahead capabilities when a local minimum is reached. The robot accomplishes the global task by automatically sequencing sensor-based tasks, obstacle avoidance, and short deliberative phases. In this paper, a complete solution to implement this idea is proposed, along with several experiments that prove the validity of this approach