Constraint-consistent task-oriented whole-body robot formulation: Task, posture, constraints, multiple contacts, and balance.
Oussama KhatibMikael JordaJaeheung ParkLuis SentisShu-Yun ChungPublished in: Int. J. Robotics Res. (2022)
Keyphrases
- consistency constraints
- humanoid robot
- physical constraints
- global constraints
- linear constraints
- mobile robot
- constraint language
- constraint solver
- constraint solving
- autonomous robots
- resource constraints
- vision system
- constraint sets
- cardinality constraints
- spatial constraints
- robot navigation
- mixed integer
- human robot interaction
- penalty function
- constrained optimization
- motion planning
- human motion
- hard constraints
- constraint satisfaction
- path planning
- pose estimation
- multi modal
- constrained minimization
- linear arithmetic constraints