Continuous Task Transition Approach for Robot Controller based on Hierarchical Quadratic Programming

Abstact: The robots with high Degrees of Freedom (DoF) such as humanoids and mobile manipulators are expected to perform multiple tasks simultaneously. Hierarchical Quadratic Programming (HQP) can effectively compute a solution for strictly prioritized tasks. However, the continuity of control input is not guaranteed when the priorities of the tasks are modified during operation. This paper proposes a continuous task…

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