NDLI: A Unified Approach to Integrate Unilateral Constraints in the Stack of Tasks

Content Provider	IEEE Xplore Digital Library
Author	Mansard, N. Khatib, O. Kheddar, A.
Copyright Year	2004
Abstract	The control approaches based on the task function formalism, and particularly those structured as a prioritized hierarchy of tasks, enable complex behaviors with elegant properties of robustness and portability to be built. However, it is difficult to consider a straightforward integration of tasks described by unilateral constraints in such frameworks. Indeed, unilateral constraints exhibit irregularities that prevent the insertion of unilateral tasks at any priority level, other than the lowest, of a hierarchy. In this paper, we present an original method to generalize the hierarchy-based control schemes to account for unilateral constraints at any priority level. We develop our method first for task sequencing using only the kinematics description; then, we expand it to the task description, using the operational space formulation. The method applies in robotics and computer graphics animation. Its practical implementation is exemplified by realizing a real-manipulator visual servoing task and a humanoid avatar reaching task; both experiments are achieved under the unilateral constraints of joint limits.
Sponsorship	IEEE Robotics and Automation Society
Starting Page	670
Ending Page	685
Page Count	16
File Size	1060432
File Format	PDF
ISSN	15523098
Volume Number	25
Issue Number	3
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-06-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Orbital robotics Kinematics Humanoid robots Robot sensing systems Robust control Visual servoing Robot control Service robots Computer graphics Animation visual servoing Dynamics humanoid robots kinematics redundant robots
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Electrical and Electronic Engineering Computer Science Applications

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Intermediate Desired Value Approach for Task Transition of Robots in Kinematic Control

A versatile generalized inverted kinematics implementation for collaborative working humanoid robots: the Stack of Tasks

A versatile generalized inverted kinematics implementation for collaborative working humanoid robots: the Stack of Tasks

Dynamic Whole-Body Motion Generation Under Rigid Contacts and Other Unilateral Constraints

Abstracting People's Trajectories for Social Robots to Proactively Approach Customers

Control and design of robots with tasks and constraints in mind

Adaptive hybrid control for visual and force servoing in an unknown environment

Adaptive Active Visual Servoing of Nonholonomic Mobile Robots

Control and design of robots with tasks and constraints in mind

A Unified Approach to Integrate Unilateral Constraints in the Stack of Tasks

Similar Documents

Intermediate Desired Value Approach for Task Transition of Robots in Kinematic Control

A versatile generalized inverted kinematics implementation for collaborative working humanoid robots: the Stack of Tasks

A versatile generalized inverted kinematics implementation for collaborative working humanoid robots: the Stack of Tasks

Dynamic Whole-Body Motion Generation Under Rigid Contacts and Other Unilateral Constraints

Abstracting People's Trajectories for Social Robots to Proactively Approach Customers

Control and design of robots with tasks and constraints in mind

Adaptive hybrid control for visual and force servoing in an unknown environment

Adaptive Active Visual Servoing of Nonholonomic Mobile Robots

Control and design of robots with tasks and constraints in mind

A Unified Approach to Integrate Unilateral Constraints in the Stack of Tasks