13 citations · 27 across the 3 of their papers we have counts for
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cs.RO2019★ 13 cited
Handling robot constraints within a Set-Based Multi-Task Priority Inverse Kinematics Framework
Paolo Di Lillo, Stefano Chiaverini, Gianluca Antonelli
Set-Based Multi-Task Priority is a recent framework to handle inverse kinematics for redundant structures. Both equality tasks, i.e., control objectives to be driven to a desired v…
cs.RO2019★ 13 cited
Safety-related Tasks within the Set-Based Task-Priority Inverse Kinematics Framework
Paolo Di Lillo, Filippo Arrichiello, Gianluca Antonelli +1
In this paper we present a framework that allows the motion control of a robotic arm automatically handling different kinds of safety-related tasks. The developed controller is bas…