Task-oriented Control of Humanoid Robots through Prioritization
نویسندگان
چکیده
In humanoids, a whole-body task involves the control of multiple subtasks while complying with physical constraints imposed by the robot’s structure and the external environment. To interact in realtime with the robot, we must guarantee that these constraints are fulfilled and that essential subtasks are first accomplished. In this paper, we present a hierarchical framework that focuses on two aspects of the control: (1) the definition of an extended task space that complies with the constraints and with higher priority tasks, and (2) the dynamic characterization and control of tasks within this space. We will analyze several control examples demonstrating the effectiveness of this framework.
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