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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| Main Authors: | , , , |
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| 其他作者: | |
| 格式: | Article |
| 語言: | English |
| 出版: |
2024
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| 主題: | |
| 在線閱讀: | https://hdl.handle.net/10356/174599 |
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| 機構: | Nanyang Technological University |
| 語言: | English |