Online Whole|Body Control using Hierarchical Quadratic ...

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 ...

A Real-Time Planning and Control Framework for Robust and ...

The developed whole-body controller uses hierarchical quadratic optimization coupled with the full system dynamics, which ensures tasks are ...

Robust design and task‐priority control for rescue robot HURCULES

The regularized hierarchical quadratic program is used for whole-body motion and force control. The optimization strategy is reasoning about ...

Body Loco-manipulation of Quadruped Robots

We design a hierarchical quadratic programming based whole-body controller that controls stable interaction when the prongs are in contact with the ground. This ...

다관절 로봇의 계층적 제어를 위한 HQP의 연산 비용 감소 방법

Wieber, “Hierarchical quadratic programming: Fast online humanoid-robot motion ... 관심분야: Robot manipulation, Whole-body Control, Humanoid robots.

Online Gain Adaptation of Whole-Body Control for Legged Robots ...

(2016), the authors employ a single quadratic program (QP) with different weighted cost terms to impose a task hierarchy. These types of controllers that employ ...

A Software Framework for Whole-Body Operational Space Control

Khatib, Synthesis of whole-body behaviors through hierarchical control ... Wieber, Hierarchical quadratic programming: Fast online humanoid-robot motion ...

Design of a Momentum-Based Control Framework and Application ...

Khatib, Synthesis of whole-body behaviors through hierarchical control of behavioral primitives, Int. ... Whole-body momentum control with linear quadratic ...

Self-Correcting Quadratic Programming-Based Robot Control

[12] used a Bayesian. Optimization procedure to select waypoints that the whole- body controller should follow when controlling a humanoid robot. Modugno et al.

Optimization-Based Control for Dynamic Legged Robots - DAIR Lab

Instaneous Whole-Body Control. In cases when computational hardware or model/task com- plexity prevents the use of whole-body MPC, hierarchical schemes such ...

Semi-parametric Approaches to Learning in Model-Based ...

We utilize a framework similar to [5] for whole-body control of Krang through a hierarchical optimization-based approach and relying on physics-based modeling ...

Balancing a humanoid robot with a prioritized contact force distribution

We illustrate this by designing a whole body motion controller for a setting with ... ancing experiments on a torque-controlled humanoid with hierarchical.

assigning individual joint weights for each task priority

6. go back to reference Escande A, Mansard N, Wieber PB (2014) Hierarchical quadratic programming: Fast online ... whole-body control exploiting ...

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

... in case of conflicting goals. This paper presents a whole-body controller, using hierarchical quadratic programming coupled with the full system dynamics ...

Tactile-based Compliance with Hierarchical Force Propagation for ...

Abstract—In this paper, we address the issue of whole- body compliance with hierarchical force propagation for omnidirectional mobile manipulators.

Impedance Control of Humanoid Walking on Uneven Terrain with ...

Moreover, we perform a whole-body control using quadratic programming (QP) that tracks the modified trajectories constrained with the centroidal.

Biped walking based on stiffness optimization and hierarchical ...

For robot whole-body control, hierarchical quadratic programming optimization is used to achieve strict task priority. The dynamic equation ...

Approximate Simulation for Template-Based Whole-Body Control

Model hierarchy considered in this approach. Our primary contribution is in establishing a robust approximate simulation relation between the intermediate CoM ...

developing quadratic programming constraints for human safety: an ...

Ott, “An approach to combine balancing with hierarchical whole-body control for legged humanoid robots,” IEEE. Robotics and Automation Letters, vol. 1, no. 2 ...