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Hierarchical Tracking Control with Arbitrary Task Dimensions: Application to Trajectory Tracking on Submanifolds

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/
Document Type:Article
Title:Hierarchical Tracking Control with Arbitrary Task Dimensions: Application to Trajectory Tracking on Submanifolds
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Garofalo, Gianlucagianluca.garofalo (at) dlr.dehttps://orcid.org/0000-0002-7481-3464
Ott, ChristianChristian.Ott (at) dlr.dehttps://orcid.org/0000-0003-0987-7493
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
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:28 Oct 2020 16:29

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