Extending iTaSC to support inequality constraints and non-instantaneous task specification

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2009, Pages 964-971

  Decŕe, Wilm ^a   Smits, Ruben ^a   Bruyninckx, Herman ^a   De Schutter, Joris ^a  

^a UNIVERSITY OF LEUVEN   (Belgium)

Author keywords

Control; Convex optimization; Inequality constraints; Itasc; Laser tracing; Task specification; Terms constraint based programming

Indexed keywords

CONSTRAINT SET; CONSTRAINT-BASED; CONTROL EQUATIONS; CONTROL SET; CONVEX PROGRAMS; GENERIC NATURE; INEQUALITY CONSTRAINT; INEQUALITY CONSTRAINTS; ITASC; JOINT TORQUES; JOINT VELOCITY; LEAST SQUARE; MATHEMATICAL PROBLEMS; OBJECTIVE FUNCTIONS; ROBOT BEHAVIOR; ROBOT MOTION; SENSOR-BASED ROBOT TASKS; TASK CONSTRAINTS; TASK SPECIFICATION; TASK SPECIFICATIONS; TERMS-CONSTRAINT-BASED PROGRAMMING;

CONSTRAINED OPTIMIZATION; CONSTRAINT THEORY; CONVEX OPTIMIZATION; EQUATIONS OF MOTION; ROBOTICS; ROBOTS; SET THEORY; SPECIFICATIONS;

ROBOT PROGRAMMING;

EID: 70350373904     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2009.5152477     Document Type: Conference Paper

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