Integration of prioritized impedance controller in improved hierarchical operational-space torque control frameworks for legged locomotion robots

DOI10.1007/S11044-021-09809-6zbMath1492.70015OpenAlexW4206515623MaRDI QIDQ2131103

Mohamed Fnadi, Wenqian Du, Faiz Benamar

Publication date: 25 April 2022

Published in: Multibody System Dynamics (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/s11044-021-09809-6

zbMATH Keywords

dynamicshierarchical torque controloperational space controlprioritized impedance controller

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Control of mechanical systems (70Q05) Kinematics of mechanisms and robots (70B15)

Uses Software

• qpOASES

Cites Work

• qpOASES: a parametric active-set algorithm for~quadratic programming
• A compact form dynamics controller for a high-DOF tetrapod-on-wheel robot with one manipulator via null space based convex optimization and compatible impedance controllers
• Springer Handbook of Robotics
• Impedance Control: An Approach to Manipulation: Part I—Theory
• Robot Dynamics Algorithms

This page was built for publication: Integration of prioritized impedance controller in improved hierarchical operational-space torque control frameworks for legged locomotion robots