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

• المؤلفون الرئيسيون: Pfeiffer, Kai, Escande, Adrien, Gergondet, Pierre, Kheddar, Abderrahmane
• مؤلفون آخرون: School of Mechanical and Aerospace Engineering
• التنسيق: مقال
• اللغة: English
• منشور في: 2024
• الموضوعات: Engineering; Constrained control; Multibody dynamics
• الوصول للمادة أونلاين: https://hdl.handle.net/10356/174599
• المؤسسة: Nanyang Technological University

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...