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...
Saved in:
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: | |
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 |
Similar Items
-
A numerical coupling model for a multibody system with multiple lubricated clearance joints
by: Zhao, Bo, et al.
Published: (2018) -
HYDRODYNAMIC INTERACTION OF SIDE-BY-SIDE FLOATING BODIES
by: CHUA KIE HIAN
Published: (2018) -
A numerical study of elastica using constrained optimization methods
by: WANG TONGYUN
Published: (2010) -
THE DEVELOPMENT OF SUBSTRUCTURE METHOD FOR MULTIBODY DYNAMICS
by: LIU AI QUN
Published: (2020) -
Multi-body dynamic analysis of float-over installations
by: Sun, L., et al.
Published: (2014)