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cs.RO2021
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…
cs.RO2021
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…
cs.RO2021
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…