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Whole Body Control using Robust & Online Hierarchical Quadratic Optimization
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Recently, several formulations have been proposed
to add inequality constraints to multi objective prioritized
optimization problems. How to solve this problems with only
equality constraints is a well known topic in robotics. Inequality
constraints behave as equalities when they reach their bounds,
so ideally we shouldn’t bother about them before we reach
them. How we take them into account and what to do when
they are reached affects drastically the computational effort
of solving the problem. We present and derive an efficient
way to deal with these problems using an off the shelf
Quadratic Programming solver and choosing an appropriate
solving strategy. We finally apply the proposed method to do
whole body control in real time on a humanoid robot with 44
dof using a hierarchy of objectives
to add inequality constraints to multi objective prioritized
optimization problems. How to solve this problems with only
equality constraints is a well known topic in robotics. Inequality
constraints behave as equalities when they reach their bounds,
so ideally we shouldn’t bother about them before we reach
them. How we take them into account and what to do when
they are reached affects drastically the computational effort
of solving the problem. We present and derive an efficient
way to deal with these problems using an off the shelf
Quadratic Programming solver and choosing an appropriate
solving strategy. We finally apply the proposed method to do
whole body control in real time on a humanoid robot with 44
dof using a hierarchy of objectives
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