Stable-by-Design Kinematic Control Based on OptimizationCitation formats

Standard

Stable-by-Design Kinematic Control Based on Optimization. / Goncalves, Vinicius Mariano; Adorno, Bruno Vilhena; Crosnier, Andre; Fraisse, Philippe.

In: IEEE Transactions on Robotics, Vol. 36, No. 3, 01.06.2020, p. 644-656.

Research output: Contribution to journalArticlepeer-review

Harvard

Goncalves, VM, Adorno, BV, Crosnier, A & Fraisse, P 2020, 'Stable-by-Design Kinematic Control Based on Optimization', IEEE Transactions on Robotics, vol. 36, no. 3, pp. 644-656. https://doi.org/10.1109/TRO.2019.2963665

APA

Goncalves, V. M., Adorno, B. V., Crosnier, A., & Fraisse, P. (2020). Stable-by-Design Kinematic Control Based on Optimization. IEEE Transactions on Robotics, 36(3), 644-656. https://doi.org/10.1109/TRO.2019.2963665

Vancouver

Goncalves VM, Adorno BV, Crosnier A, Fraisse P. Stable-by-Design Kinematic Control Based on Optimization. IEEE Transactions on Robotics. 2020 Jun 1;36(3):644-656. https://doi.org/10.1109/TRO.2019.2963665

Author

Goncalves, Vinicius Mariano ; Adorno, Bruno Vilhena ; Crosnier, Andre ; Fraisse, Philippe. / Stable-by-Design Kinematic Control Based on Optimization. In: IEEE Transactions on Robotics. 2020 ; Vol. 36, No. 3. pp. 644-656.

Bibtex

@article{5d43d183cab84e4894ea7cef68892ef6,
title = "Stable-by-Design Kinematic Control Based on Optimization",
abstract = "This article presents a new kinematic control paradigm for redundant robots based on optimization. The general approach takes into account convex objective functions with inequality constraints and a specific equality constraint resulting from a Lyapunov function, which ensures closed-loop stability by design. Furthermore, we tackle an important particular case by using a convex combination of quadratic and l1-norm objective functions, making possible for the designer to choose different degrees of sparseness and smoothness in the control inputs. We provide a pseudoanalytical solution to this optimization problem and validate the approach by controlling the center of mass of the humanoid robot HOAP3.",
author = "Goncalves, {Vinicius Mariano} and Adorno, {Bruno Vilhena} and Andre Crosnier and Philippe Fraisse",
year = "2020",
month = jun,
day = "1",
doi = "10.1109/TRO.2019.2963665",
language = "English",
volume = "36",
pages = "644--656",
journal = "IEEE Transactions on Robotics",
issn = "1552-3098",
publisher = "IEEE",
number = "3",

}

RIS

TY - JOUR

T1 - Stable-by-Design Kinematic Control Based on Optimization

AU - Goncalves, Vinicius Mariano

AU - Adorno, Bruno Vilhena

AU - Crosnier, Andre

AU - Fraisse, Philippe

PY - 2020/6/1

Y1 - 2020/6/1

N2 - This article presents a new kinematic control paradigm for redundant robots based on optimization. The general approach takes into account convex objective functions with inequality constraints and a specific equality constraint resulting from a Lyapunov function, which ensures closed-loop stability by design. Furthermore, we tackle an important particular case by using a convex combination of quadratic and l1-norm objective functions, making possible for the designer to choose different degrees of sparseness and smoothness in the control inputs. We provide a pseudoanalytical solution to this optimization problem and validate the approach by controlling the center of mass of the humanoid robot HOAP3.

AB - This article presents a new kinematic control paradigm for redundant robots based on optimization. The general approach takes into account convex objective functions with inequality constraints and a specific equality constraint resulting from a Lyapunov function, which ensures closed-loop stability by design. Furthermore, we tackle an important particular case by using a convex combination of quadratic and l1-norm objective functions, making possible for the designer to choose different degrees of sparseness and smoothness in the control inputs. We provide a pseudoanalytical solution to this optimization problem and validate the approach by controlling the center of mass of the humanoid robot HOAP3.

U2 - 10.1109/TRO.2019.2963665

DO - 10.1109/TRO.2019.2963665

M3 - Article

VL - 36

SP - 644

EP - 656

JO - IEEE Transactions on Robotics

JF - IEEE Transactions on Robotics

SN - 1552-3098

IS - 3

ER -