Task-priority formulations for the kinematic control of highly redundant articulated structures
1998
Abstract
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
Details
Title
Task-priority formulations for the kinematic control of highly redundant articulated structures
Author(s)
Baerlocher, P. ; Boulic, R.
Published in
Proc. Intelligent Robots and Systems. Innovations in Theory, IEEE IROS'98
Series
Practice and Applications (Cat. No.98CH36190)
Pages
323-329
Conference
International Conference on Intelligent Robots and Systems, Victoria, BC, Canada, 12-14 Décembre, 1998
Date
1998
Keywords
Record Appears in
Scientific production and competences > I&C - School of Computer and Communication Sciences > GR-SCI-IC - IC Scientists Group > IIG - Immersive Interaction Group
Scientific production and competences > I&C - School of Computer and Communication Sciences > IINFCOM > VRLAB - Virtual Reality Laboratory
Peer-reviewed publications
Conference Papers
Work produced at EPFL
Published
Scientific production and competences > I&C - School of Computer and Communication Sciences > IINFCOM > VRLAB - Virtual Reality Laboratory
Peer-reviewed publications
Conference Papers
Work produced at EPFL
Published
Record creation date
2007-01-16