Task-priority formulations for the kinematic control of highly redundant articulated structures
We compare two formulations for the kinematic control of redundant manipulators, based on task prioritization. We also propose an incremental method to speed up the evaluation of the solution. This is especially interesting when dealing with multiple task-priority levels and with highly redundant structures. Finally, the effectiveness of the approach in the context of posture control of human-like articulated figures is illustrated
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Baerlocher, P., & Boulic, R. (1998). Task-priority formulations for the kinematic control of highly redundant articulated structures. Proc. Intelligent Robots and Systems. Innovations in Theory, IEEE IROS′98, Practice and Applications (Cat. No.98CH36190), 323–329. https://doi.org/10.1109/IROS.1998.724639
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1998
Practice and Applications (Cat. No.98CH36190)
323
329
REVIEWED
EPFL
| Event name | Event place | Event date |
Victoria, BC, Canada | 12-14 Décembre, 1998 | |