Hierarchical quadratic programming: Fast online humanoid-robot motion generation

International Journal of Robotics Research

Volumn 33, Issue 7, 2014, Pages 1006-1028

  Escande, Adrien ^a   Mansard, Nicolas ^b   Wieber, Pierre Brice ^c  

^a NATIONAL INSTITUTE OF ADVANCED INDUSTRIAL SCIENCE AND TECHNOLOGY AIST   (Japan)

^b UNIVERSITÉ DE TOULOUSE   (France)

^c INRIA   (France)

Author keywords

humanoid robot; Inverse kinematics; redundancy; task hierarchy

Indexed keywords

ANTHROPOMORPHIC ROBOTS; CONSTRAINT THEORY; INVERSE KINEMATICS; ITERATIVE METHODS; QUADRATIC PROGRAMMING; REDUNDANCY;

COMPLETE SOLUTIONS; CONTROL FREQUENCY; HUMANOID ROBOT; INEQUALITY CONSTRAINT; LEAST SQUARE OPTIMIZATION; MOTION GENERATION; QUADRATIC PROBLEM; TASK HIERARCHIES;

ROBOT PROGRAMMING;

EID: 84901601589     PISSN: 02783649     EISSN: 17413176     Source Type: Journal    
DOI: 10.1177/0278364914521306     Document Type: Article

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