A unified approach to integrate unilateral constraints in the stack of tasks

IEEE Transactions on Robotics

Volumn 25, Issue 3, 2009, Pages 670-685

  Mansard, Nicolas ^a   Khatib, Oussama ^b   Kheddar, Abderrahmane ^c,d  

^a UNIVERSITÉ DE TOULOUSE   (France)

^b Stanford University   (United States)

^c CNRS   (France)

^d National Institute of Advanced Industrial Science and Technology   (Japan)

Author keywords

Dynamics; Humanoid robots; Kinematics; Redundant robots; Visual servoing

Indexed keywords

COMPLEX BEHAVIOR; COMPUTER GRAPHICS ANIMATIONS; CONTROL APPROACH; CONTROL SCHEMES; HUMANOID ROBOTS; JOINT LIMITS; OPERATIONAL SPACE FORMULATION; PRACTICAL IMPLEMENTATION; PRIORITY LEVELS; REACHING TASK; REDUNDANT ROBOTS; TASK DESCRIPTION; TASK FUNCTIONS; TASK SEQUENCING; UNIFIED APPROACH; UNILATERAL CONSTRAINTS;

ANIMATION; COMPUTER GRAPHICS; DYNAMICS; INTELLIGENT ROBOTS; KINEMATICS; MOBILE ROBOTS; REDUNDANT MANIPULATORS; ROBOTICS;

VISUAL SERVOING;

EID: 67649249977     PISSN: 15523098     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRO.2009.2020345     Document Type: Article

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