Advanced Robotics: Redundancy and Optimization
Advanced Robotics: Redundancy and Optimization
Modelling and Control of Robot Manipulators
Modelling and Control of Robot Manipulators
Springer Handbook of Robotics
A unified approach to integrate unilateral constraints in the stack of tasks
IEEE Transactions on Robotics - Special issue on rehabilitation robotics
Control of mobile manipulator using the dynamical systems approach
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
IEEE Transactions on Robotics
Compliant control of multicontact and center-of-mass behaviors in humanoid robots
IEEE Transactions on Robotics
Task Sequencing for High-Level Sensor-Based Control
IEEE Transactions on Robotics
IEEE Transactions on Robotics
Reflexive stability control framework for humanoid robots
Autonomous Robots
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Kinematically redundant robots allow simultaneous execution of several tasks with different priorities. Beside the main task, obstacle avoidance is one commonly used subtask. The ability to avoid obstacles is especially important when the robot is working in a human environment. In this paper, we propose a novel control method for kinematically redundant robots, where we focus on a smooth, continuous transition between different tasks. The method is based on a new and very simple null-space formulation. Sufficient conditions for the tasks design are given using the Lyapunov-based stability discussion. The effectiveness of the proposed control method is demonstrated by simulation and on a real robot. Pros and cons of the proposed method and the comparison with other control methods are also discussed.