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dc.contributor.authorPrete, ADen
dc.contributor.authorRomano, Fen
dc.contributor.authorNatale, Len
dc.contributor.authorMetta, Gen
dc.contributor.authorSandini, Gen
dc.contributor.authorNori, Fen
dc.date.accessioned2017-06-23T15:43:22Z
dc.date.available2017-06-23T15:43:22Z
dc.date.issued2014-10-16en
dc.identifier.urihttp://hdl.handle.net/10026.1/9532
dc.descriptionPre-print of the paper presented at Robotics and Automation (ICRA), IEEE International Conference on, Hong Kong, China, 2014en
dc.description.abstract

This paper presents a new technique to control highly redundant mechanical systems, such as humanoid robots. We take inspiration from two approaches. Prioritized control is a widespread multi-task technique in robotics and animation: tasks have strict priorities and they are satisfied only as long as they do not conflict with any higher-priority task. Optimal control instead formulates an optimization problem whose solution is either a feedback control policy or a feedforward trajectory of control inputs. We introduce strict priorities in multi-task optimal control problems, as an alternative to weighting task errors proportionally to their importance. This ensures the respect of the specified priorities, while avoiding numerical conditioning issues. We compared our approach with both prioritized control and optimal control with tests on a simulated robot with 11 degrees of freedom.

en
dc.language.isoenen
dc.subjectcs.ROen
dc.subjectcs.ROen
dc.titlePrioritized Optimal Controlen
dc.typeJournal Article
plymouth.author-urlhttp://arxiv.org/abs/1410.4414v1en
plymouth.organisational-group/Plymouth
plymouth.organisational-group/Plymouth/Faculty of Science and Engineering
plymouth.organisational-group/Plymouth/REF 2021 Researchers by UoA
plymouth.organisational-group/Plymouth/REF 2021 Researchers by UoA/UoA11 Computer Science and Informatics
dc.rights.embargoperiodNot knownen
rioxxterms.licenseref.urihttp://www.rioxx.net/licenses/all-rights-reserveden
rioxxterms.typeJournal Article/Reviewen


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