A compact form dynamics controller for a high-DOF tetrapod-on-wheel robot with one manipulator via null space based convex optimization and compatible impedance controllers

DOI10.1007/S11044-020-09728-YzbMath1456.70021OpenAlexW3008885292MaRDI QIDQ2205186

Wenqian Du, Faiz Benamar

Publication date: 20 October 2020

Published in: Multibody System Dynamics (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/s11044-020-09728-y

zbMATH Keywords

convex optimizationnull spacecompatible impedance controlwheel contact model

Mathematics Subject Classification ID

Convex programming (90C25) Automated systems (robots, etc.) in control theory (93C85) Robot dynamics and control of rigid bodies (70E60)

Related Items (1)

Integration of prioritized impedance controller in improved hierarchical operational-space torque control frameworks for legged locomotion robots

Uses Software

• qpOASES

Cites Work

• qpOASES: a parametric active-set algorithm for~quadratic programming
• Efficient Dynamic Computer Simulation of Robotic Mechanisms

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