Mixed Control for Whole-Body Compliance of a Humanoid Robot
Xiaozhu Ju,Jiajun Wang,Gang Han,Mingguo Zhao,Xiaozhu Ju,Jiajun Wang,Gang Han,Mingguo Zhao
The hierarchical quadratic programming (HQP) is commonly applied to consider strict hierarchies of multi-tasks and robot's physical inequality constraints during whole-body compliance. However, for the one-step HQP, the solution can oscillate when it is close to the boundary of constraints. It is because the abrupt hit of the bounds gives rise to unrealizable jerks and even infeasible solutions. T...
