Optimization-Based Controllers for Robotics Applications (OCRA): The Case of iCub’s Whole-Body Control
OCRA stands for Optimization-based Control for Robotics Applications. It consists of a set of platform-independent libraries which facilitates the development of optimization-based controllers for articulated robots. Hierarchical, weighted, and hybrid control strategies can easily be implemented usi...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Frontiers Media S.A.
2018-03-01
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| Series: | Frontiers in Robotics and AI |
| Subjects: | |
| Online Access: | http://journal.frontiersin.org/article/10.3389/frobt.2018.00024/full |