TY - GEN
T1 - Singularity-Robust Prioritized Whole-Body Tracking and Interaction Control with Smooth Task Transitions
AU - Wu, Xuwei
AU - Albu-Schäffer, Alin
AU - Dietrich, Alexander
N1 - Publisher Copyright:
© 2024 IEEE.
PY - 2024
Y1 - 2024
N2 - In this work, we propose a singularity-robust whole-body control framework that ensures smooth task transitions while maintaining strict priorities. The weighted generalized inverse is adopted to derive a hierarchical control law compatible with singular and redundant tasks. Moreover, a smooth activation matrix is proposed to continuously shape both null-space projectors and task-level control actions. Validation has been conducted in MATLAB/Simulink and MuJoCo simulations with Rollin' Justin.
AB - In this work, we propose a singularity-robust whole-body control framework that ensures smooth task transitions while maintaining strict priorities. The weighted generalized inverse is adopted to derive a hierarchical control law compatible with singular and redundant tasks. Moreover, a smooth activation matrix is proposed to continuously shape both null-space projectors and task-level control actions. Validation has been conducted in MATLAB/Simulink and MuJoCo simulations with Rollin' Justin.
UR - http://www.scopus.com/inward/record.url?scp=85202451213&partnerID=8YFLogxK
U2 - 10.1109/ICRA57147.2024.10610961
DO - 10.1109/ICRA57147.2024.10610961
M3 - Conference contribution
AN - SCOPUS:85202451213
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 15358
EP - 15365
BT - 2024 IEEE International Conference on Robotics and Automation, ICRA 2024
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2024 IEEE International Conference on Robotics and Automation, ICRA 2024
Y2 - 13 May 2024 through 17 May 2024
ER -