A Quadratic Programming Approach to Modular Robot Control and ...

A new framework in terms of control and motion planning is developed. The problem is formulated as a linearly constrained quadratic program (QP) that can be ...

Since modular robotic systems are usually highly redundant for versatility, developing a generic approach for control and motion planning is difficult, ...

A Quadratic Programming Approach to Manipulation in Real-Time ...

Redundant systems are common in modular robots that consist of multiple modules and are able to transformed into different configurations with ...

A Quadratic Programming Approach to Modular Robot Control and ...

This algorithm is designed to low level of control where variables such as terminal states, runtime, and physical and electrical parameters of the movement are ...

A Quadratic Programming Approach to Manipulation in Real-Time ...

Differ- ent from robots with fixed geometry or configurations, the kinematics model of a modular robotic system can alter as the robot reconfigures itself, and ...

A Quadratic Programming Approach to Modular Robot Control and ...

Modular robotic systems consist of multiple modules that can be transformed into different configurations with respect to different needs.

A Quadratic Programming Approach to Manipulation in Real-Time ...

A Quadratic Programming Approach to Modular Robot Control and Motion Planning · Chao LiuMark H. Yim. Engineering, Computer Science. 2020 Fourth IEEE ...

A Quadratic Programming Approach to Manipulation in Real-Time ...

Different from robots with fixed geometry or configurations, the kinematics model of a modular robotic system can alter as the robot reconfigures itself, and ...

Whole-Body Motion Control in Real Time | Chao Liu

We present a real-time control and planning framework to handle dexterous manipulation tasks that is demonstrated on SMORES-EP and CKBot modular robotic ...

arXiv:2104.02755v2 [cs.RO] 31 Jul 2021

IEEE Robotics and Automation Letters 4(4), 4231–4238 (Oct. 2019). 21. Liu, C., Yim, M.: A quadratic programming approach to modular robot ...

A Quadratic-Programming Approach to Dual-arm Mobile Manipulation

... model predictive control approach. The optimization formulation provides a modular approach to specify objectives and constraints. ... robot to serve in our ...

A Quadratic Programming Approach to Quasi-Static Whole-Body ...

The approach is validated and demonstrated on SURROGATE, a mobile robot with a TALON base, a 7 DOF serial-revolute torso, and two 7 DOF modular arms developed ...

Yet another Quadratic Programming Solver for Robotics and beyond

In this work, we introduce a few variations of the well-established augmented. Lagrangian method, specifically for solving QPs, which include.

Quadratic Programming-based Control Approach for Dual-Arm ...

A quadratic programming-based control approach is presented that enables tracking control of dual-arm robotic manipulators performing planned simultaneous ...

A stable method for task priority adaptation in quadratic ...

Attainment of multiple tasks in robot control using Quadratic Programming. •. Usage of a Reinforcement Learning strategy for online adaptation of task ...

A Quadratic Programming Approach to Quasi-Static Whole-Body ...

A local motion planning method for robotic systems with manipulating limbs, moving bases, and stance stability constraints arising from the presence of ...

A Quadratic Programming Approach to the Minimum Energy ...

Time-Energy Optimal Control of a Mobile Robot Using Direct Numerical Method ... Based on this, the structure of the control system is represented by two modules: ...

A Stable Method for Task Priority Adaptation in Quadratic ... - HAL

Index Terms—Optimization and Optimal Control, Reinforce- ment Learning, Machine Learning for Robot Control. I. INTRODUCTION. In recent years, ...

IEEE Transactions on Robotics' Post - LinkedIn

Quadratic Programming-Based Reference Spreading Control for Dual-Arm ... control stack through a "thinking fast and slow" approach.

A Quadratic Programming Approach to the Minimum Energy ...

WSEAS Transactions on Systems and Control. This paper is devoted to the development of an optimal control system of trajectory movement of a mobile robot.