We propose an extension to the Task Priority Matrix (TPM) method for redundancy resolution that includes also hard inequality joint constraints. This is done by combining TPM with a modified version of the basic Saturation in the Null Space (SNS) algorithm. Comparative simulations are reported for the 21-DOFs Romeo humanoid robot
A novel method to handle multiple robotic tasks with priorities is presented. The occurrence of sing...
This paper presents a novel task-priority control framework for redundant robotic systems based on a...
Mobile manipulators with many degrees of freedom (DOFs) have increasingly become of interest to indu...
We propose an extension to the Task Priority Matrix (TPM) method for redundancy resolution that incl...
A kinematically redundant robot with limited motion capabilities, expressed by inequality constraint...
Abstract—We present an efficient method for addressing online the inversion of differential task kin...
Abstract — For robots that are redundant with respect to a given task, we present an optimal differe...
Our recently developed Reverse Priority (RP) redundancy resolution method is extended here to the pr...
We present an efficient method for motion control of redundant robots performing multiple prioritize...
International audienceThe redundant mechanical systems like humanoid robots are designed to fulfill ...
We present an improved version of the Saturation in the Null Space (SNS) algorithm for redundancy re...
We present a novel efficient method addressing the inverse differential kinematics problem for redun...
We present a generalized version of the Saturation in the Null Space (SNS) algorithm for the task co...
objective function to be minimized (typically, a norm) and linear equality and inequality constraint...
We propose a new approach for executing the main Cartesian tasks assigned to a redundant robot ...
A novel method to handle multiple robotic tasks with priorities is presented. The occurrence of sing...
This paper presents a novel task-priority control framework for redundant robotic systems based on a...
Mobile manipulators with many degrees of freedom (DOFs) have increasingly become of interest to indu...
We propose an extension to the Task Priority Matrix (TPM) method for redundancy resolution that incl...
A kinematically redundant robot with limited motion capabilities, expressed by inequality constraint...
Abstract—We present an efficient method for addressing online the inversion of differential task kin...
Abstract — For robots that are redundant with respect to a given task, we present an optimal differe...
Our recently developed Reverse Priority (RP) redundancy resolution method is extended here to the pr...
We present an efficient method for motion control of redundant robots performing multiple prioritize...
International audienceThe redundant mechanical systems like humanoid robots are designed to fulfill ...
We present an improved version of the Saturation in the Null Space (SNS) algorithm for redundancy re...
We present a novel efficient method addressing the inverse differential kinematics problem for redun...
We present a generalized version of the Saturation in the Null Space (SNS) algorithm for the task co...
objective function to be minimized (typically, a norm) and linear equality and inequality constraint...
We propose a new approach for executing the main Cartesian tasks assigned to a redundant robot ...
A novel method to handle multiple robotic tasks with priorities is presented. The occurrence of sing...
This paper presents a novel task-priority control framework for redundant robotic systems based on a...
Mobile manipulators with many degrees of freedom (DOFs) have increasingly become of interest to indu...
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