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A Whole-Body Control Framework Based on the Operational Space Formulation Under Inequality Constraints via Task-Oriented Optimization

Title
A Whole-Body Control Framework Based on the Operational Space Formulation Under Inequality Constraints via Task-Oriented Optimization
Authors
이이수; 김상현; 박재흥; Nikos Tsagarakis; 이진오
Keywords
The operational space formulation (OSF); highly redundant robots; whole-body control; inequality constraints
Issue Date
2021-03
Publisher
IEEE Access
Citation
-39826
URI
https://pubs.kist.re.kr/handle/201004/73206
ISSN
2169-3536
Appears in Collections:
KIST Publication > Article
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