Proceedings Article10.1109/ICRA.2019.8793553
Dynamically-consistent Generalized Hierarchical Control
Niels Dehio,Jochen J. Steil +1 more
- 20 May 2019
- pp 1141-1147
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TL;DR: DynGHC allows to smoothly rearrange priorities which is important for robots acting in dynamically changing contexts and is also advantageous when choosing non-strict priorities because inertia coupling between tasks is reduced.
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Abstract: Tracking multiple prioritized tasks simultaneously with redundant robots have been investigated extensively over the last decades. Recent research focuses on combining advantages from both classical soft and strict prioritization schemes which is non-trivial. Among the proposed methods to tackle this issue, Generalized Hierarchical Control (GHC) seems to have a reasonable performance, however, it does not include a weighting matrix in the computation of the nullspace projection operator and hence cannot construct dynamically-consistent stack-of-tasks hierarchies as a special case. We extend GHC by adding dynamic-consistency to the control scheme and refer to it as DynGHC. The extension is also advantageous when choosing non-strict priorities because inertia coupling between tasks is reduced. DynGHC allows to smoothly rearrange priorities which is important for robots acting in dynamically changing contexts. Comparative simulations with a 4 DOF planar manipulator and a KUKA LWR validate our approach. Matlab and C++ source code is made available.
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Citations
Passivity based hierarchical multi-task tracking control for redundant manipulators with uncertainties
Weichao Sun,Yeqing Yuan +1 more
TL;DR: In this paper , a passivity-based adaptive Jacobian hierarchical multi-task controller with strict priority is proposed to guarantee the asymptotic convergence of both tracking error and parameter estimation error.
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Adaptive Passivity-Based Multi-Task Tracking Control for Robotic Manipulators
Gianluca Garofalo,Xuwei Wu,Christian Ott +2 more
- 09 Jul 2021
TL;DR: In this article, a hierarchical multi-task impedance control for trajectory tracking and geometric methods for model identification are proposed to solve the problem of task prioritization in the multi-objective case.
21
Learning Robust Task Priorities and Gains for Control of Redundant Robots
Luigi Penco,Enrico Mingo Hoffman,Valerio Modugno,Waldez Gomes,Jean-Baptiste Mouret,Serena Ivaldi +5 more
- 10 Feb 2020
TL;DR: This work automatically learns the controller configuration (soft and strict task priorities and Convergence Gains) and uses multi-objective optimization to compare and choose among Pareto-optimal solutions that represent a trade-off of performance and robustness and can be transferred onto the real robot.
A Whole-Body Control Framework Based on the Operational Space Formulation Under Inequality Constraints via Task-Oriented Optimization
TL;DR: In this paper, a task-oriented optimisation method is developed to obtain a feasible torque resolution solely for task variables based on the operational space formulation, which effectively reduces the number of optimisation variables.
Hierarchical Tracking Control With Arbitrary Task Dimensions: Application to Trajectory Tracking on Submanifolds
Gianluca Garofalo,Christian Ott +1 more
- 20 Jul 2020
TL;DR: A modification is proposed that removes restrictions on the choice of the tasks, and the case of trajectory tracking on a submanifold of the workspace is considered, in which multiple charts of the atlas are used for the tasks.
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