The hierarchical Newton's method for numerically stable prioritized dynamic control

The hierarchical Newton's method for numerically stable prioritized dynamic control

This work links optimization approaches from hierarchical least-squares programming to instantaneous prioritized whole-body robot control. Concretely, we formulate the hierarchical Newton's method which solves prioritized nonlinear least-squares problems in a numerically stable fashion even in...

Full description

Saved in:
Bibliographic Details
Main Authors: Pfeiffer, Kai, Escande, Adrien, Gergondet, Pierre, Kheddar, Abderrahmane
Other Authors: School of Mechanical and Aerospace Engineering
Format: Article
Language:English
Published: 2024
Subjects:
Engineering
Constrained control
Multibody dynamics
Online Access:https://hdl.handle.net/10356/174599
Tags: Add Tag
No Tags, Be the first to tag this record!
Institution: Nanyang Technological University
Language: English

Internet

https://hdl.handle.net/10356/174599

Similar Items