박민규 김동환 오용환 이이수 2024-01-19T12:33:29Z 2024-01-19T12:33:29Z 2022-04-14 2022-02 1975-6291 https://pubs.kist.re.kr/handle/201004/115643 This paper presents a method that can reduce the computational cost of the hierarchical quadratic programming (HQP)-based robot controller. Hierarchical controllers can effectively manage articulated robots with many degrees of freedom (DoFs) to perform multiple tasks. The HQP-based controller is one of the generic hierarchical controllers that can provide a control solution guaranteeing strict task priority while handling numerous equality and inequality constraints. However, according to a large amount of computation, it can be a burden to use it for real-time control. Therefore, for practical use of the HQP, we propose a method to reduce the computational cost by decreasing the size of the decision variable. The computation time and control performance of the proposed method are evaluated by real robot experiments with a 15 DoFs dual-arm manipulator. English 한국로봇학회 다관절 로봇의 계층적 제어를 위한 HQP의 연산 비용 감소 방법 Computational Cost Reduction Method for HQP-based Hierarchical Controller for Articulated Robot Article 10.7746/jkros.2022.17.1.016 2 로봇학회 논문지, v.17, no.1, pp.016 - 024 로봇학회 논문지 17 1 016 024 N kci ART002813707 Hierarchical Control Inverse Dynamics Manipulation Optimization