3 accepted papers
This letter proposes a generalization of the prioritized inverse kinematics (PIK) problem as the multi-objective optimization with the lexicographical ordering. We specify three properties for a vector-valued objective function to be proper for the PIK problem, so that the set of all PIK solutions c
In this paper, we propose a unified approach to teach and iteratively refine both end-effector and null-space movements. Hence, the robot can be taught to make use of all its degrees-of-freedom (DoF) to adapt its behavior to new dynamic scenarios. In order to achieve this goal we propose an incremen…
We are proposing a general framework that incorporates multiple task definitions in the prioritized inverse kinematics problem. First, a mathematical description of multiple task definitions is constructed that provides an efficient way to show unprioritized or prioritized accumulations of tasks. Th…