Kinematic Control of Redundant Manipulators: Generalizing the Task-Priority Framework to Inequality Task
By Oussama Kanoun, Florent Lamiraux, Pierre-Brice Wieber. IEEE Transactions on robotics, 2011
398 citations recorded by the source corpus.
Subfields: Biomedical Engineering, Control and Systems Engineering
View Paper: https://www.semanticscholar.org/paper/3ffd88dc7376ec6b6f701f509f6ebcc03938f9cb
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In Biomedical Engineering
- Long Jin
- Shuai Li
- Yunong Zhang
- Nicolas Mansard
- Adrien Escande
- Pierre-Brice Wieber
- Eric C. Whitman
- Christopher G. Atkeson
In Control and Systems Engineering
Citations in the corpus
- Hierarchical quadratic programming: Fast online humanoid-robot motion generation (2014, methodology): “On the contrary to the cascade of QP used in [Kanoun et al., 2011, De Lasa et al., 2010], this algorithm computes the active set of all the level of the hierarchy at the same time.”
- Kinematic Control of Redundant Manipulators Using Neural Networks (2017, methodology): “To overcome the problems with pseudoinverse-based solutions, later works [6], [7] formulated the control problem as a quadratic programming problem to find an optimal solution with minimal kinematic energy consumption under physical constraints.”