Kinematic Control of Redundant Manipulators: Generalizing the Task-Priority Framework to Inequality Task

  title={Kinematic Control of Redundant Manipulators: Generalizing the Task-Priority Framework to Inequality Task},
  author={O. Kanoun and F. Lamiraux and Pierre-Brice Wieber},
  journal={IEEE Transactions on Robotics},
Redundant mechanical systems like humanoid robots are designed to fulfill multiple tasks at a time. A task, in velocity-resolved inverse kinematics, is a desired value for a function of the robot configuration that can be regulated with an ordinary differential equation (ODE). When facing simultaneous tasks, the corresponding equations can be grouped in a single system or, better, sorted in priority and solved each in the solutions set of higher priority tasks. This elegant framework for… Expand
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