Stability of the Tracking Problem with Task-Priority Inverse Kinematics

IFAC-PapersOnLine ◽

10.1016/j.ifacol.2018.11.528 ◽

2018 ◽

Vol 51 (22) ◽

pp. 121-125 ◽

Author(s):

Mathias Hauan Arbo ◽

Jan Tommy Gravdahl

Keyword(s):

Inverse Kinematics ◽

Tracking Problem ◽

Download Full-text

Experiments on whole-body control of a dual-arm mobile robot with the Set-Based Task-Priority Inverse Kinematics algorithm

2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) ◽

10.1109/iros45743.2020.9341638 ◽

2020 ◽

Author(s):

Paolo Di Lillo ◽

Francesco Pierri ◽

Fabrizio Caccavale ◽

Gianluca Antonelli

Keyword(s):

Mobile Robot ◽

Inverse Kinematics ◽

Task Priority ◽

Download Full-text

Switchable task-priority framework for combining human-demonstrated and inverse kinematics tasks

2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014) ◽

10.1109/robio.2014.7090387 ◽

2014 ◽

Author(s):

Luka Peternel ◽

Jan Babic

Keyword(s):

Inverse Kinematics ◽

Download Full-text

Stability analysis for set-based control within the singularity-robust multiple task-priority inverse kinematics framework

2015 54th IEEE Conference on Decision and Control (CDC) ◽

10.1109/cdc.2015.7402104 ◽

2015 ◽

Author(s):

Signe Moe ◽

Andrew R. Teel ◽

Gianluca Antonelli ◽

Kristin Y. Pettersen

Keyword(s):

Stability Analysis ◽

Inverse Kinematics ◽

Task Priority ◽

Download Full-text

Safety-Related Tasks Within the Set-Based Task-Priority Inverse Kinematics Framework

2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) ◽

10.1109/iros.2018.8593884 ◽

2018 ◽

Author(s):

Paolo Di Lillo ◽

Filippo Arrichiello ◽

Gianluca Antonelli ◽

Stefano Chiaverini

Keyword(s):

Inverse Kinematics ◽

Download Full-text

Experimental results for set-based control within the singularity-robust multiple task-priority inverse kinematics framework

2015 IEEE International Conference on Robotics and Biomimetics (ROBIO) ◽

10.1109/robio.2015.7418940 ◽

2015 ◽

Author(s):

Signe Moe ◽

Gianluca Antonelli ◽

Kristin Y. Pettersen ◽

Johannes Schrimpf

Keyword(s):

Inverse Kinematics ◽

Experimental Results ◽

Task Priority ◽

Download Full-text

Handling robot constraints within a Set-Based Multi-Task Priority Inverse Kinematics Framework

2019 International Conference on Robotics and Automation (ICRA) ◽

10.1109/icra.2019.8793625 ◽

2019 ◽

Author(s):

Paolo Di Lillo ◽

Stefano Chiaverini ◽

Gianluca Antonelli

Keyword(s):

Inverse Kinematics ◽

Download Full-text

Dynamic planning of redundant robots within a set-based task-priority inverse kinematics framework

2020 IEEE Conference on Control Technology and Applications (CCTA) ◽

10.1109/ccta41146.2020.9206268 ◽

2020 ◽

Author(s):

Daniele Di Vito ◽

Mathieux Bergeron ◽

David Meger ◽

Gregory Dudek ◽

Gianluca Antonelli

Keyword(s):

Inverse Kinematics ◽

Dynamic Planning ◽

Redundant Robots ◽

Download Full-text

Incorporating set-based control within the singularity-robust multiple task-priority inverse kinematics

2015 23rd Mediterranean Conference on Control and Automation (MED) ◽

10.1109/med.2015.7158902 ◽

2015 ◽

Author(s):

Gianluca Antonelli ◽

Signe Moe ◽

Kristin Y. Pettersen

Keyword(s):

Inverse Kinematics ◽

Task Priority ◽

Download Full-text

Set-Based Tasks within the Singularity-Robust Multiple Task-Priority Inverse Kinematics Framework: General Formulation, Stability Analysis, and Experimental Results

Frontiers in Robotics and AI ◽

10.3389/frobt.2016.00016 ◽

2016 ◽

Vol 3 ◽

Author(s):

Signe Moe ◽

Gianluca Antonelli ◽

Andrew R. Teel ◽

Kristin Y. Pettersen ◽

Johannes Schrimpf

Keyword(s):

Stability Analysis ◽

Inverse Kinematics ◽

Experimental Results ◽

Task Priority ◽

Multiple Task ◽

Formulation Stability

Download Full-text

Closed-Loop Inverse Kinematics Schemes for Constrained Redundant Manipulators with Task Space Augmentation and Task Priority Strategy

The International Journal of Robotics Research ◽

10.1177/027836499101000409 ◽

1991 ◽

Vol 10 (4) ◽

pp. 410-425 ◽

Author(s):

Pasquale Chiacchio ◽

Stefano Chiaverini ◽

Lorenzo Sciavicco ◽

Bruno Siciliano

Keyword(s):

Inverse Kinematics ◽

Closed Loop ◽

Redundant Manipulators ◽

Task Priority ◽

And Task ◽

Download Full-text