Singularity-Robust Prioritized Whole-Body Tracking and Interaction Control With Smooth Task Transitions

Xuwei Wu; Alin Albu-Schäffer; Alexander Dietrich

ICRA 2024poster0 citations

Singularity-Robust Prioritized Whole-Body Tracking and Interaction Control With Smooth Task Transitions

Xuwei Wu, Alin Albu-Schäffer, Alexander Dietrich

Abstract

In this work, we propose a singularity-robust whole-body control framework that ensures smooth task transitions while maintaining strict priorities. The weighted generalized inverse is adopted to derive a hierarchical control law compatible with singular and redundant tasks. Moreover, a smooth activation matrix is proposed to continuously shape both null-space projectors and task-level control actions. Validation has been conducted in MATLAB/Simulink and MuJoCo simulations with Rollin’ Justin.

BibTeX

@inproceedings{icra2024_singularityrobus,
  title = {Singularity-Robust Prioritized Whole-Body Tracking and Interaction Control With Smooth Task Transitions},
  author = {Xuwei Wu and Alin Albu-Schäffer and Alexander Dietrich},
  booktitle = {ICRA 2024},
  year = {2024}
}