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

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

In this paper, we devise methods for the multi-objective control of humanoid robots, aka prioritized whole-body controllers, that achieve efficiency and ...

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

Abstract—In this paper, we devise methods for the multi- objective control of humanoid robots, a.k.a. prioritized whole- body controllers, that achieve ...

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

Computationally-Robust and Efficient Prioritized Whole-Body Controller with Contact Constraints. Abstract: In this paper, we devise methods for the ...

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

In this paper, we devise methods for the multiobjective control of humanoid robots, a.k.a. prioritized whole-body controllers, that achieve efficiency and ...

[PDF] Computationally-Robust and Efficient Prioritized Whole-Body ...

This paper uses a form of whole-body controllers that is very general via incorporating centroidal momentum dynamics, operational task priorities, ...

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

In this paper, we devise methods for the multiobjective control of humanoid robots, a.k.a. prioritized whole-body controllers, that achieve efficiency and ...

(PDF) Computationally-Robust and Efficient Prioritized Whole-Body ...

PDF | In this paper, we devise methods for the multi- objective control of humanoid robots, a.k.a. prioritized whole- body controllers, ...

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

Computationally-Robust and Efficient Prioritized Whole-Body Controller with Contact Constraints. Citation Details. Title: Computationally-Robust and Efficient ...

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

Donghyun Kim, Jaemin Lee, Orion Campbell, Hochul Hwang, Luis Sentis: Computationally-Robust and Efficient Prioritized Whole-Body Controller with Contact ...

Computationally Efficient HQP-based Whole-body Control Exploiting ...

Indeed, it serves faster whole-body control solution for multiple tasks under equality and inequality constraints yet strictly fulfilling the task priority. The ...

[PDF] Implementation and stability analysis of prioritized whole-body ...

Computationally-Robust and Efficient Prioritized Whole-Body Controller with Contact Constraints · Engineering, Computer Science. 2018 IEEE/RSJ International ...

Donghyun Kim - Assistant Professor, CICS - UMass Amherst

Computationally-robust and efficient prioritized whole-body controller with contact constraints. ... Robust dynamic locomotion via reinforcement learning and ...

‪Junhyeok Ahn‬ - ‪Google Scholar‬

2020. Computationally-robust and efficient prioritized whole-body controller with contact constraints. In 2018 IEEE. D Kim, J Lee, J Ahn, O Campbell, H Hwang ...

Junhyeok Ahn

Computationally-Robust and Efficient Prioritized Whole-Body Controller with Contact Constraints Donghyun Kim, Jaemin Lee, Junhyeok Ahn, Orion Campbell ...

Publications - The University of Texas at Austin

Sentis, Computationally-Robust and Efficient Prioritized Whole-Body Controller with Contact Constraints (arXiv preprint), IEEE International Conference on ...

‪Donghyun Kim‬ - ‪Google Scholar‬

Computationally-robust and efficient prioritized whole-body controller with contact constraints. D Kim, J Lee, J Ahn, O Campbell, H Hwang, L Sentis. 2018 IEEE ...

Efficient Computation of Whole-Body Control Utilizing Simplified ...

PDF | In this study, we present a novel method for enhancing the computational efficiency of whole-body control for humanoid robots, ...

Learning robust task priorities of QP-based whole-body torque ... - HAL

A highly effective solution to the whole-body control problem is to ... As for the postural task, its allotted low priority allows it to be used as regularization.

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

Sentis,. “Computationally-robust and efficient prioritized whole-body controller with contact constraints,” in Proc. IEEE/RSJ Int. Conf. Intell. Robots. Syst ...

Computationally Efficient HQP-based Whole-body Control Exploiting ...

all the constraints when the obtained optimal solution Γ is commanded to the joint torque controller of robot. When there is a second priority ...