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2009
IEEE

Prioritized optimization for task-space control

8 years 12 months ago
Prioritized optimization for task-space control
— We introduce an optimization framework called prioritized optimization control, in which a nested sequence of objectives are optimized so as not to conflict with higher-priority objectives. We focus on the case of quadratic objectives and derive an efficient recursive solver for this case. We show how task-space control can be formulated in this framework, and demonstrate the technique on three sample control problems. The proposed formulation supports acceleration, torque, and bilateral force constraints, while simplifying reasoning about task-space control. This scheme unifies prioritized task-space and optimization-based control. Our method computes control torques for all presented examples in real-time.
Martin de Lasa, Aaron Hertzmann
Added 24 May 2010
Updated 24 May 2010
Type Conference
Year 2009
Where IROS
Authors Martin de Lasa, Aaron Hertzmann
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