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Garofalo, Gianluca and Ott, Christian (2020) Hierarchical Tracking Control with Arbitrary Task Dimensions: Application to Trajectory Tracking on Submanifolds. IEEE Robotics and Automation Letters, 5 (4). IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2020.3010449. ISSN 2377-3766.
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| Item URL in elib: | https://elib.dlr.de/135645/ | ||||||||||||
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| Document Type: | Article | ||||||||||||
| Title: | Hierarchical Tracking Control with Arbitrary Task Dimensions: Application to Trajectory Tracking on Submanifolds | ||||||||||||
| Authors: |
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| Date: | 2020 | ||||||||||||
| Journal or Publication Title: | IEEE Robotics and Automation Letters | ||||||||||||
| Refereed publication: | Yes | ||||||||||||
| Open Access: | Yes | ||||||||||||
| Gold Open Access: | No | ||||||||||||
| In SCOPUS: | Yes | ||||||||||||
| In ISI Web of Science: | Yes | ||||||||||||
| Volume: | 5 | ||||||||||||
| DOI: | 10.1109/LRA.2020.3010449 | ||||||||||||
| Publisher: | IEEE - Institute of Electrical and Electronics Engineers | ||||||||||||
| ISSN: | 2377-3766 | ||||||||||||
| Status: | Published | ||||||||||||
| Keywords: | Whole-body motion planning and control; Compliance and impedance control; Redundant robots; Hierarchical control; Submanifolds | ||||||||||||
| HGF - Research field: | Aeronautics, Space and Transport | ||||||||||||
| HGF - Program: | Space | ||||||||||||
| HGF - Program Themes: | Space System Technology | ||||||||||||
| DLR - Research area: | Raumfahrt | ||||||||||||
| DLR - Program: | R SY - Space System Technology | ||||||||||||
| DLR - Research theme (Project): | R - Terrestrial Assistance Robotics (old) | ||||||||||||
| Location: | Oberpfaffenhofen | ||||||||||||
| Institutes and Institutions: | Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems | ||||||||||||
| Deposited By: | Garofalo, Dr. Ing. Gianluca | ||||||||||||
| Deposited On: | 28 Oct 2020 16:29 | ||||||||||||
| Last Modified: | 24 Oct 2023 12:48 |
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