Control of Free-Floating Humanoid Robots Through Task Prioritization

— The possibility of controlling humanoid robots in free-space opens new fields of application involving freefloating behaviors. Recently, we presented a prioritized taskoriented control framework for the control of multiple motion primitives while complying with physical constraints imposed by the robot’s body and environment. We adapt here this framework to the control of free-floating robots.

• Type: Conference
• Year: 2005
• Where: ICRA
• Authors: Luis Sentis, Oussama Khatib
• Keywords: Free-space Opens, Humanoid Robots, ICRA 2005, Prioritized Taskoriented Control, Robotics