DocumentCode
2936906
Title
Control of Free-Floating Humanoid Robots Through Task Prioritization
Author
Sentis, Luis ; Khatib, Oussama
Author_Institution
Artificial Intelligence Laboratory Stanford University Stanford, CA 94305, USA lsentis@robotics.stanford.edu
fYear
2005
fDate
18-22 April 2005
Firstpage
1718
Lastpage
1723
Abstract
The possibility of controlling humanoid robots in free-space opens new fields of application involving free-floating behaviors. Recently, we presented a prioritized task-oriented control framework for the control of multiple motion primitives while complying with physical constraints imposed by the robot’s body and environment. We adapt here this framework to the control of free-floating robots.
Keywords
Free-floating dynamics; prioritized control; Acceleration; Aerodynamics; Artificial intelligence; Gravity; Humanoid robots; Jacobian matrices; Motion control; Orbital robotics; Robot control; Robotics and automation; Free-floating dynamics; prioritized control;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on
Print_ISBN
0-7803-8914-X
Type
conf
DOI
10.1109/ROBOT.2005.1570361
Filename
1570361
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