Name
Abstract | ||
|---|---|---|
In this letter, we propose a whole-body planning framework that unifies dynamic locomotion and manipulation tasks by formulating a single multi-contact optimal control problem. We model the hybrid nature of a generic multi-limbed mobile manipulator as a switched system, and introduce a set of constraints that can encode any pre-defined gait sequence or manipulation schedule in the formulation. Sin... |
Year | DOI | Venue |
|---|---|---|
2021 | 10.1109/LRA.2021.3068908 | IEEE Robotics and Automation Letters |
Keywords | DocType | Volume |
Robots,Manipulator dynamics,Dynamics,Mathematical model,Task analysis,Robot kinematics,Optimal control | Journal | 6 |
Issue | ISSN | Citations |
3 | 2377-3766 | 0 |
PageRank | References | Authors |
0.34 | 0 | 4 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Jean-Pierre Sleiman | 1 | 1 | 1.71 |
| Farbod Farshidian | 2 | 1 | 4.41 |
| Maria Vittoria Minniti | 3 | 4 | 1.45 |
| Marco Hutter | 4 | 59 | 8.36 |