Paper Info
Title
Optimization-Based Controllers for Robotics Applications (OCRA): The Case of iCub's Whole-Body Control.
Abstract
OCRA stands for Optimization-based Control for Robotics Applications. It consists of a set of platform-independent libraries which facilitates the development of optimization based controllers for articulated robots. Hierarchical, weighted, and hybrid control strategies can easily be implemented using these tools. The generic interfaces provided by OCRA allow different robots to use the exact same controllers. OCRA also allows users to specify high-level objectives via tasks. These tasks provide an intuitive way of generating complex behaviors and can be specified in XML format. To illustrate the use of OCRA, an implementation of interest to this research topic for the humanoid robot iCub is presented. OCRA stands for Optimization-based Control for Robotics Applications. It consists of a set of platform-independent libraries which facilitates the development of optimization-based controllers for articulated robots. Hierarchical, weighted, and hybrid control strategies can easily be implemented using these tools. The generic interfaces provided by OCRA allow different robots to use the exact same controllers. OCRA also allows users to specify high-level objectives via tasks. These tasks provide an intuitive way of generating complex behaviors and can be specified in XML format. To illustrate the use of OCRA, an implementation of interest to this research topic for the humanoid robot iCub is presented.
Year
DOI
Venue
2018
10.3389/frobt.2018.00024
FRONTIERS IN ROBOTICS AND AI
Keywords
Field
DocType
whole-body controller,iCub,optimization,tasks,hierarchical,code:c++
iCub,XML,Computer science,Human–computer interaction,Artificial intelligence,Robot,Machine learning,Robotics,Humanoid robot
Journal
Volume
ISSN
Citations 
5.0
2296-9144
0
PageRank 
References 
Authors
0.34
5
4
Name
Order
Citations
PageRank
Jorhabib Eljaik G.100.34
Ryan Lober2141.93
Antoine Hoarau310.77
vincent padois416815.26