Multi-task closed-loop inverse kinematics stability through semidefinite programming
Josep Marti-Saumell,Angel Santamaria-Navarro,Carlos Ocampo-Martinez,Juan Andrade-Cetto,Josep Marti-Saumell,Angel Santamaria-Navarro,Carlos Ocampo-Martinez,Juan Andrade-Cetto
Today's complex robotic designs comprise in some cases a large number of degrees of freedom, enabling for multi-objective task resolution (e.g., humanoid robots or aerial manipulators). This paper tackles the local stability problem of a hierarchical closed-loop inverse kinematics algorithm for such highly redundant robots. We present a method to guarantee this system stability by performing an on...
