Computationally Efficient HQP-based Whole-body Control Exploiting the Operational-space Formulation
Yisoo Lee,Junewhee Ahn,Jinoh Lee,Jaeheung Park,Yisoo Lee,Junewhee Ahn,Jinoh Lee,Jaeheung Park
This paper proposes a novel and practical approach to enhance the computational efficiency of the hierarchical quadratic programming (HQP)-based whole-body control. The HQP method is known to offer control solutions satisfying strict priority with various constraints for multiple-tasks execution. However, it inherently comes at the price of high computation time to solve QP optimization problems i...
