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...

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書目詳細資料
Main Authors:	Pfeiffer, Kai, Escande, Adrien, Gergondet, Pierre, Kheddar, Abderrahmane
其他作者:	School of Mechanical and Aerospace Engineering
格式:	Article
語言:	English
出版:	2024
主題:	Engineering Constrained control Multibody dynamics
在線閱讀:	https://hdl.handle.net/10356/174599
標簽:	添加標簽沒有標簽, 成為第一個標記此記錄!

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