Online Whole|Body Control using Hierarchical Quadratic ...

LQR-Assisted Whole-Body Control of a Wheeled Bipedal Robot with ...

Wieber, “Hierarchical quadratic programming: Fast online humanoid-robot motion generation,” Int. J. Robot. Res., vol. 33, no. 7, pp. 1006–1028, 2014. [6] ...

Computationally-Robust and Efficient Prioritized Whole-Body ...

[8], 3) hierarchical quadratic programming (HQP) [9]–[11], ... Park, “Balancing of humanoid robot using contact force/moment control by task-oriented whole body ...

An admittance based hierarchical control framework for dual-arm ...

Based on QP solvers, it is possible to solve a sequence of prioritized tasks using a hierarchical quadratic programming (HQP) architecture [13]. ... whole-body ...

Augmented Hierarchical Quadratic Programming for Adaptive ...

management of multiple tasks using hierarchical control frameworks [3]–[5] ... Tsagarakis,. “Opensot: a whole-body control library for the compliant humanoid.

Online Hierarchical Optimization for Humanoid Control

A whole-body control framework for Wheeled Inverted Pendulum (WIP) Humanoids is presented with a low level controller for body joints manipulation and a ...

Multi-Modal and Adaptive Robot Control through Hierarchical ...

This paper proposes a novel Hierarchical Quadratic Programming (HQP)-based framework that enables multi-tasking control under multiple Human- ...

Biped Walking Based on Stiffness Optimization and Hierarchical ...

Whole-body motion control is realized with a strict priority of tasks. ... Whole Body Control Based on Hierarchical Quadratic Programming. Whole ...

Fast online humanoid-robot motion generation - Archive ouverte HAL

Hierarchical quadratic programming: Fast online humanoid-robot motion generation ... control frequency on whole-body size problems. This generic solver is used ...

MPC-Based Hierarchical Task Space Control of Underactuated and ...

In addition, whole body MPC is achieved using Sequential. Linear Quadratic (SLQ) programming for mobile manipula- tors [23]. In the case of locomotion for ...

Multi-vehicle coordination based on hierarchical quadratic ...

This paper presents an optimization-based control scheme for generating online multi-vehicle coordination behaviors to accomplish missions in indoor ...

A Whole-Body Control Framework Based on the Operational Space ...

The hier- archical quadratic programming (HQP) further focuses on the strictness of the hierarchical execution when conflicts occur among the tasks. This ...

Journal articles: 'Hierarchical quadratic programming' - Grafiati

... by a mathematical analysis method. Finally, the proposed method is applied to achieve the tracking and control of the whole-body trajectory.

Myoelectric control within the framework of Hierarchical Quadratic ...

Keywords: robotic control, myoelectric control, hierarchical quadratic programming, ... “Online Whole-Body Control using Hierarchical Quadratic.

An adaptive compliance Hierarchical Quadratic Programming ...

Albu-Schäffer, Dynamic whole-body mobile manipulation with a torque controlled humanoid robot via impedance control laws, in: 2011 IEEE/RSJ International ...

Implementation and Evaluation of the HiQP Control Framework - DiVA

Online Whole-Body Control using Hierarchical Quadratic Programming: Implementation and Evaluation of the HiQP Control Framework. Johansson, Marcus. Linköpings ...

Impact-friendly robust control design with task-space quadratic ...

Hierarchical quadratic programming: Fast online humanoid-robot motion generation. ... Syn- thesis of complex humanoid whole-body behavior ...

Biped Walking Based on Stiffness Optimization and Hierarchical ...

For robot whole-body control, hierarchical quadratic programming optimization is used to achieve strict task priority. ... Whole-body motion planning with ...

Optimisation of Body-ground Contact for Augmenting the Whole ...

We developed a hierarchical quadratic programming based whole-body controller that can control stable interaction when the prongs are in contact with the ground ...

Whole-Body Control for a Torque-Controlled Legged Mobile ...

lower importance in case of conflicting goals. This paper presents a whole-body controller, using hierarchical quadratic program- ming ...

Hierarchical Task Model Predictive Control for Sequential Mobile ...

means coordinating the arm and base toward multiple tasks in the sequence. This can be achieved by using a whole-body planner to generate ...