A Quadratic Programming Approach to Quasi-Static Whole-Body Manipulation

@inproceedings{Shankar2014AQP,
  title={A Quadratic Programming Approach to Quasi-Static Whole-Body Manipulation},
  author={Krishna Shankar and Joel W. Burdick and Nicolas Hudson},
  booktitle={WAFR},
  year={2014}
}
This paper introduces a local motion planning method for robotic systems with manipulating limbs, moving bases (legged or wheeled), and stance stability constraints arising from the presence of gravity. We formulate the problem of selecting local motions as a linearly constrained quadratic program (QP), that can be solved efficiently. The solution to this QP is a tuple of locally optimal joint velocities. By using these velocities to step towards a goal, both a path and an inverse-kinematic… CONTINUE READING