Hierarchical inequality task specification for indirect force controlled robots using quadratic programming

Ewald Lutscher; Gordon Cheng

doi:10.1109/IROS.2014.6943234

Hierarchical inequality task specification for indirect force controlled robots using quadratic programming

Ewald Lutscher, Gordon Cheng

Chair of Cognitive Systems

Technical University of Munich

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

5 Scopus citations

Abstract

In our previous work we derived a task specification approach for indirect force controlled robots to assign force and positioning tasks in joint and Cartesian space and execute them simultaneously in a hierarchical way. The virtual set points for an underlying joint space indirect force controller have been computed according to the specified tasks, supporting reactive control by generating virtual velocity commands.

Original language	English
Title of host publication	IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	4722-4727
Number of pages	6
ISBN (Electronic)	9781479969340
DOIs	https://doi.org/10.1109/IROS.2014.6943234
State	Published - 31 Oct 2014
Event	2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014 - Chicago, United States Duration: 14 Sep 2014 → 18 Sep 2014

Publication series

Name	IEEE International Conference on Intelligent Robots and Systems
ISSN (Print)	2153-0858
ISSN (Electronic)	2153-0866

Conference

Conference	2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014
Country/Territory	United States
City	Chicago
Period	14/09/14 → 18/09/14

Access to Document

10.1109/IROS.2014.6943234

Cite this

Lutscher, E., & Cheng, G. (2014). Hierarchical inequality task specification for indirect force controlled robots using quadratic programming. In IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 4722-4727). Article 6943234 (IEEE International Conference on Intelligent Robots and Systems). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2014.6943234

Lutscher, Ewald ; Cheng, Gordon. / Hierarchical inequality task specification for indirect force controlled robots using quadratic programming. IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc., 2014. pp. 4722-4727 (IEEE International Conference on Intelligent Robots and Systems).

@inproceedings{8381265c00db462bb7c6487f83d906aa,

title = "Hierarchical inequality task specification for indirect force controlled robots using quadratic programming",

abstract = "In our previous work we derived a task specification approach for indirect force controlled robots to assign force and positioning tasks in joint and Cartesian space and execute them simultaneously in a hierarchical way. The virtual set points for an underlying joint space indirect force controller have been computed according to the specified tasks, supporting reactive control by generating virtual velocity commands.",

author = "Ewald Lutscher and Gordon Cheng",

note = "Publisher Copyright: {\textcopyright} 2014 IEEE.; 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014 ; Conference date: 14-09-2014 Through 18-09-2014",

year = "2014",

month = oct,

day = "31",

doi = "10.1109/IROS.2014.6943234",

language = "English",

series = "IEEE International Conference on Intelligent Robots and Systems",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "4722--4727",

booktitle = "IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems",

}

Lutscher, E & Cheng, G 2014, Hierarchical inequality task specification for indirect force controlled robots using quadratic programming. in IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems., 6943234, IEEE International Conference on Intelligent Robots and Systems, Institute of Electrical and Electronics Engineers Inc., pp. 4722-4727, 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014, Chicago, United States, 14/09/14. https://doi.org/10.1109/IROS.2014.6943234

Hierarchical inequality task specification for indirect force controlled robots using quadratic programming. / Lutscher, Ewald; Cheng, Gordon.
IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc., 2014. p. 4722-4727 6943234 (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Hierarchical inequality task specification for indirect force controlled robots using quadratic programming

AU - Lutscher, Ewald

AU - Cheng, Gordon

PY - 2014/10/31

Y1 - 2014/10/31

N2 - In our previous work we derived a task specification approach for indirect force controlled robots to assign force and positioning tasks in joint and Cartesian space and execute them simultaneously in a hierarchical way. The virtual set points for an underlying joint space indirect force controller have been computed according to the specified tasks, supporting reactive control by generating virtual velocity commands.

AB - In our previous work we derived a task specification approach for indirect force controlled robots to assign force and positioning tasks in joint and Cartesian space and execute them simultaneously in a hierarchical way. The virtual set points for an underlying joint space indirect force controller have been computed according to the specified tasks, supporting reactive control by generating virtual velocity commands.

UR - http://www.scopus.com/inward/record.url?scp=84911497287&partnerID=8YFLogxK

U2 - 10.1109/IROS.2014.6943234

DO - 10.1109/IROS.2014.6943234

M3 - Conference contribution

AN - SCOPUS:84911497287

T3 - IEEE International Conference on Intelligent Robots and Systems

SP - 4722

EP - 4727

BT - IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014

Y2 - 14 September 2014 through 18 September 2014

ER -

Lutscher E, Cheng G. Hierarchical inequality task specification for indirect force controlled robots using quadratic programming. In IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc. 2014. p. 4722-4727. 6943234. (IEEE International Conference on Intelligent Robots and Systems). doi: 10.1109/IROS.2014.6943234

Hierarchical inequality task specification for indirect force controlled robots using quadratic programming

Abstract

Publication series

Conference

Access to Document

Other files and links

Fingerprint

Cite this