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conference paper
Task-priority formulations for the kinematic control of highly redundant articulated structures
1998
Proc. Intelligent Robots and Systems. Innovations in Theory, IEEE IROS'98
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
Type
conference paper
Authors
Publication date
1998
Published in
Proc. Intelligent Robots and Systems. Innovations in Theory, IEEE IROS'98
Series title/Series vol.
Practice and Applications (Cat. No.98CH36190)
Start page
323
End page
329
Peer reviewed
REVIEWED
Event name | Event place | Event date |
Victoria, BC, Canada | 12-14 Décembre, 1998 | |
Available on Infoscience
January 16, 2007
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