A Stack-of-Tasks Approach Combined With Behavior Trees: A New Framework for Robot Control
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DOI: 10.1109/lra.2022.3211481
Abstract: Stack-of-Tasks (SoT) control allows a robot to simultaneously fulfill a number of prioritized goals formulated in terms of (in)equality constraints in error space. Since this approach solves a sequence of Quadratic Programs (QP) at each… read more here.
Keywords: control; approach combined; combined behavior; stack tasks ... See more keywords