Generalized projector for task priority transitions during hierarchical control


Redundant robots performing multiple tasks of different priority levels are often handled by hierarchical control frameworks. This paper proposes a general hierarchical control approach that can handle not only a single standard lexicographic hierarchy, but also a complex priority network involving both strict and non-strict task priorities. In this… (More)
DOI: 10.1109/ICRA.2015.7139265


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