On Weight-Prioritized Multitask Control of Humanoid Robots
نویسندگان
چکیده
منابع مشابه
On Weight-Prioritized Multi-Task Control of Humanoid Robots
We propose a formal analysis with some theoretical properties of weight-prioritized multi-task inverse-dynamics-like control of humanoid robots, being a case of redundant “manipulators” with a non-actuated free-floating base and multiple unilateral frictional contacts with the environment. The controller builds on a weighted sum scalarization of a multiobjective optimization problem under equal...
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ژورنال
عنوان ژورنال: IEEE Transactions on Automatic Control
سال: 2018
ISSN: 0018-9286,1558-2523
DOI: 10.1109/tac.2017.2752085