Quadratic Programming for Multirobot and Task-Space Force Control

We have extended the task-space multiobjective controllers that write as quadratic programs (QPs) to handle multirobot systems as a single centralized control. The idea is to assemble all the "robots" models and their interaction task constraints into a single QP formulation. By multirobot...

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Veröffentlicht in:	IEEE transactions on robotics 2019-02, Vol.35 (1), p.64-77
Hauptverfasser:	Bouyarmane, Karim, Chappellet, Kevin, Vaillant, Joris, Kheddar, Abderrahmane
Format:	Artikel
Sprache:	eng
Schlagworte:	Automatic Constraint modelling Contact force End effectors Engineering Sciences Force Force control Humanoid Humanoid robot manipulation Humanoid robots Kinematics manipulation force control Multiple robots multirobot control Quadratic programming Robot sensing systems Robots robot–robot comanipulation Task analysis task specification
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