4 papers
Recursive Hierarchical Projection for Whole-Body Control with Task Priority Transition
Gang Han, Jiajun Wang, Xiaozhu Ju +1
Redundant robots are desired to execute multitasks with different priorities simultaneously. The task priorities are necessary to be transitioned for complex task scheduling of who…
Mixed Control for Whole-Body Compliance of a Humanoid Robot
Xiaozhu Ju, Jiajun Wang, Gang Han +1
The hierarchical quadratic programming (HQP) is commonly applied to consider strict hierarchies of multi-tasks and robot's physical inequality constraints during whole-body complia…
Whole-Body Control with Motion/Force Transmissibility for Parallel-Legged Robot
Jiajun Wang, Gang Han, Xiaozhu Ju +1
For achieving kinematically suitable configurations and highly dynamic task execution, an efficient way is to consider robot performance indices in the whole-body control (WBC) of…
Dynamic Balancing of Humanoid Robot Walker3 with Proprioceptive Actuation: Systematic Design of Algorithm, Software and Hardware
Yan Xie, Jiajun Wang, Hao Dong +3
Dynamic balancing under uncertain disturbances is important for a humanoid robot, which requires a good capability of coordinating the entire body redundancy to execute multi tasks…