A Distributed Processing Approach for Smooth Task Transitioning in Strict Hierarchical Control
Francesco Tassi,Arash Ajoudani,Francesco Tassi,Arash Ajoudani
To enhance robots’ applicability in real-world scenarios, it is essential to establish a complex and multi-tasking behaviour, inspired by human nature. To this purpose, from a hardware perspective, a high number of degrees of freedom is necessary, as is the case for humanoids and collaborative mobile manipulators. From a software standpoint instead, complex hierarchical strategies are often used t...
