The hierarchical Newton's method for numerically stable prioritized dynamic control

The hierarchical Newton's method for numerically stable prioritized dynamic control

This work links optimization approaches from hierarchical least-squares programming to instantaneous prioritized whole-body robot control. Concretely, we formulate the hierarchical Newton's method which solves prioritized nonlinear least-squares problems in a numerically stable fashion even in...

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Bibliographic Details
Main Authors: Pfeiffer, Kai, Escande, Adrien, Gergondet, Pierre, Kheddar, Abderrahmane
Other Authors: School of Mechanical and Aerospace Engineering
Format: Journal Article
Language:English
Published: 2024
Subjects:
Engineering
Constrained control
Multibody dynamics
Online Access:https://hdl.handle.net/10356/174599

Internet

https://hdl.handle.net/10356/174599

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