The Hierarchical Newton’s Method for Numerically Stable Prioritized Dynamic Control

This work links optimization approaches from hierarchical least-squares programming to instantaneous prioritized whole-body robot control. Concretely, we formulate the Newton’s method which solves nonlinear problems in a numerically stable fashion even presence of kinematic and algorithmic singularities approximated constraints. These results are then transferred control exhibit additional variability time. is necessary acceleration-based controllers incorporate second-order dynamics. However, show that without complicated adaptations not appropriate acceleration domain. We therefore velocity-based controller exhibits proportional derivative (PD) convergence characteristics. Our developments verified toy scenarios as well complex experiments stress importance its singularity resolution.