Generalized hierarchical control
暂无分享,去创建一个
[1] Pierre-Brice Wieber,et al. Hierarchical quadratic programming: Fast online humanoid-robot motion generation , 2014, Int. J. Robotics Res..
[2] Paul Evrard,et al. Interactive dynamics and balance of a virtual character during manipulation tasks , 2011, 2011 IEEE International Conference on Robotics and Automation.
[3] Moritz Diehl,et al. CasADi -- A symbolic package for automatic differentiation and optimal control , 2012 .
[4] Eiichi Yoshida,et al. Real-time smooth task transitions for hierarchical inverse kinematics , 2013, 2013 13th IEEE-RAS International Conference on Humanoid Robots (Humanoids).
[5] Pierre-Brice Wieber,et al. Analysis of the discontinuities in prioritized tasks-space control under discreet task scheduling operations , 2011, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems.
[6] Stefano Chiaverini,et al. A damped least-squares solution to redundancy resolution , 1991, Proceedings. 1991 IEEE International Conference on Robotics and Automation.
[7] A. Liegeois,et al. Automatic supervisory control of the configuration and behavior of multi-body mechanisms , 1977 .
[8] Oussama Khatib,et al. Efficient algorithm for extended operational space inertia matrix , 1999, Proceedings 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human and Environment Friendly Robots with High Intelligence and Emotional Quotients (Cat. No.99CH36289).
[9] Jun Nakanishi,et al. Inverse kinematics with floating base and constraints for full body humanoid robot control , 2008, Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots.
[10] Alain Micaelli,et al. Dynamic balance control of humanoids for multiple grasps and non coplanar frictional contacts , 2007, 2007 7th IEEE-RAS International Conference on Humanoid Robots.
[11] Oussama Khatib,et al. Inertial Properties in Robotic Manipulation: An Object-Level Framework , 1995, Int. J. Robotics Res..
[12] Jun Nakanishi,et al. A unifying framework for robot control with redundant DOFs , 2007, Auton. Robots.
[13] Oussama Khatib,et al. Real-Time Obstacle Avoidance for Manipulators and Mobile Robots , 1985, Autonomous Robot Vehicles.
[14] Oussama Khatib,et al. Prioritized multi-task motion control of redundant robots under hard joint constraints , 2012, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems.
[15] Nicolas Mansard,et al. Intermediate Desired Value Approach for Task Transition of Robots in Kinematic Control , 2012, IEEE Transactions on Robotics.
[16] Vincent Padois,et al. Synthesis of complex humanoid whole-body behavior: A focus on sequencing and tasks transitions , 2011, 2011 IEEE International Conference on Robotics and Automation.
[17] Pierre-Brice Wieber,et al. Prioritizing linear equality and inequality systems: Application to local motion planning for redundant robots , 2009, 2009 IEEE International Conference on Robotics and Automation.
[18] S. Shankar Sastry,et al. Dynamic control of redundant manipulators , 1989, J. Field Robotics.
[19] Oussama Khatib,et al. Motion control of redundant robots under joint constraints: Saturation in the Null Space , 2012, 2012 IEEE International Conference on Robotics and Automation.
[20] Oussama Khatib,et al. A unified approach for motion and force control of robot manipulators: The operational space formulation , 1987, IEEE J. Robotics Autom..
[21] Oussama Khatib,et al. Compliant Control of Multicontact and Center-of-Mass Behaviors in Humanoid Robots , 2010, IEEE Transactions on Robotics.
[22] Oussama Khatib,et al. A Unified Approach to Integrate Unilateral Constraints in the Stack of Tasks , 2009, IEEE Transactions on Robotics.
[23] Joseph Salini,et al. Dynamic control for the task/posture coordination of humanoids: Toward synthesis of complex activities , 2014 .
[24] Vincent Padois,et al. Kinematic and dynamic model-based control of wheeled mobile manipulators: a unified framework for reactive approaches , 2007, Robotica.
[25] Jun Nakanishi,et al. Task space control with prioritization for balance and locomotion , 2007 .
[26] Ronan Boulic,et al. Task-priority formulations for the kinematic control of highly redundant articulated structures , 1998, Proceedings. 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Innovations in Theory, Practice and Applications (Cat. No.98CH36190).
[27] Oussama Khatib,et al. Whole-Body Dynamic Behavior and Control of Human-like Robots , 2004, Int. J. Humanoid Robotics.
[28] Bruno Siciliano,et al. Dynamic multi-priority control in redundant robotic systems1 , 2013, Robotica.
[29] Paul Evrard,et al. Interactive Virtual Humans: A Two-Level Prioritized Control Framework With Wrench Bounds , 2012, IEEE Transactions on Robotics.
[30] Claude Samson,et al. Robot Control: The Task Function Approach , 1991 .
[31] Nicolas Mansard,et al. Continuity of Varying-Feature-Set Control Laws , 2009, IEEE Transactions on Automatic Control.
[32] Olivier Stasse,et al. Real-time (self)-collision avoidance task on a hrp-2 humanoid robot , 2008, 2008 IEEE International Conference on Robotics and Automation.
[33] Oussama Khatib,et al. Synthesis of Whole-Body Behaviors through Hierarchical Control of Behavioral Primitives , 2005, Int. J. Humanoid Robotics.
[34] Farhad Aghili,et al. A unified approach for inverse and direct dynamics of constrained multibody systems based on linear projection operator: applications to control and simulation , 2005, IEEE Transactions on Robotics.
[35] François Keith,et al. Generation of dynamic motion for anthropomorphic systems under prioritized equality and inequality constraints , 2011, 2011 IEEE International Conference on Robotics and Automation.
[36] François Keith,et al. Dynamic Whole-Body Motion Generation Under Rigid Contacts and Other Unilateral Constraints , 2013, IEEE Transactions on Robotics.
[37] Pierre-Brice Wieber,et al. Hierarchical Quadratic Programming: Companion report , 2013 .
[38] Tadej Petric,et al. Smooth continuous transition between tasks on a kinematic control level: Obstacle avoidance as a control problem , 2013, Robotics Auton. Syst..
[39] Oussama Khatib,et al. Prioritized multi-objective dynamics and control of robots in human environments , 2004, 4th IEEE/RAS International Conference on Humanoid Robots, 2004..
[40] Jean-Jacques E. Slotine,et al. A general framework for managing multiple tasks in highly redundant robotic systems , 1991, Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments.
[41] Abderrahmane Kheddar,et al. Using a multi-objective controller to synthesize simulated humanoid robot motion with changing contact configurations , 2011, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems.
[42] Philippe Soueres,et al. Coupling manipulation and locomotion tasks for a humanoid robot , 2009, 2009 International Conference on Advances in Computational Tools for Engineering Applications.
[43] O. Khatib. TASK-ORIENTED CONTROL OF HUMANOID ROBOTS THROUGH PRIORITIZATION , 2004 .
[44] Alexander Dietrich,et al. On continuous null space projections for torque-based, hierarchical, multi-objective manipulation , 2012, 2012 IEEE International Conference on Robotics and Automation.
[45] J. Maciejowski,et al. Soft constraints and exact penalty functions in model predictive control , 2000 .
[46] Jovan Popovic,et al. Multiobjective control with frictional contacts , 2007, SCA '07.
[47] Pierre-Brice Wieber,et al. Kinematic Control of Redundant Manipulators: Generalizing the Task-Priority Framework to Inequality Task , 2011, IEEE Transactions on Robotics.
[48] Oussama Khatib,et al. A Unified Framework for Whole-Body Humanoid Robot Control with Multiple Constraints and Contacts , 2008, EUROS.