{"id":858,"date":"2020-05-06T20:22:53","date_gmt":"2020-05-06T18:22:53","guid":{"rendered":"http:\/\/janela2.lirmm.fr\/~fraisse\/?p=858"},"modified":"2020-05-11T17:12:18","modified_gmt":"2020-05-11T15:12:18","slug":"ieee-tro-2020","status":"publish","type":"post","link":"https:\/\/www.lirmm.fr\/~fraisse\/archives\/858","title":{"rendered":"Stable-by-Design Kinematic Control Based on Optimization\ufeff"},"content":{"rendered":"\n<h2 class=\"wp-block-heading\"><strong>Stable-by-Design Kinematic Control Based on Optimization<\/strong>\ufeff<\/h2>\n\n\n\n<p p style=\"text-align: justify;\">This paper 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 pseudo-analytical solution to this optimization problem and validate the approach by controlling the center of mass of the humanoid robot HOAP3.<\/p>\n\n\n<ul class=\"papercite_bibliography\">\n<li>         <a href=\"http:\/\/www.lirmm.fr\/~fraisse\/wp-content\/papercite-data\/pdf\/2020-tro-vg.pdf\" title='Download PDF' class='papercite_pdf'><img src='http:\/\/www.lirmm.fr\/~fraisse\/wp-content\/plugins\/papercite\/img\/pdf.png' alt=\"[PDF]\"\/><\/a>   <a href='http:\/\/dx.doi.org\/10.1109\/TRO.2019.2963665' class='papercite_doi' title='View document on publisher site'><img src='http:\/\/www.lirmm.fr\/~fraisse\/wp-content\/plugins\/papercite\/img\/external.png' width='10' height='10' alt='[DOI]' \/><\/a>           V. M. Gon\u00e7alves, B. V. Adorno, A. Crosnier, and P. Fraisse. Stable-by-Design Kinematic Control Based on Optimization. <em>IEEE Transactions on Robotics<\/em>, pages 1-13, January 2020. <br \/>    <a href=\"javascript:void(0)\" id=\"papercite_0\" class=\"papercite_toggle\">[Bibtex]<\/a>\n<div class=\"papercite_bibtex\" id=\"papercite_0_block\">\n<pre><code class=\"tex bibtex\">@article{2020-tro-vg,\nauthor={Gon\u00e7alves,V. M. and Adorno, B. V. and Crosnier, A. and Fraisse, P.},\njournal= {IEEE Transactions on Robotics},\ntitle={Stable-by-Design Kinematic Control Based on Optimization},\nyear={2020},\nmonth={January},\nvolume={},\nnumber={},\npages={1-13},\nnote={},\nabstract={},\nkeywords={kinematic control},\ndoi={10.1109\/TRO.2019.2963665},\nISSN={1941-0468}\n}<\/code><\/pre>\n<\/div>\n<\/li>\n<\/ul>\n\n\n\n<div class=\"wp-block-file aligncenter\"><a href=\"http:\/\/janela2.lirmm.fr\/~fraisse\/wp-content\/uploads\/2020\/05\/QP12.zip\">QP12 (Julia code)<\/a><a href=\"http:\/\/janela2.lirmm.fr\/~fraisse\/wp-content\/uploads\/2020\/05\/QP12.zip\" class=\"wp-block-file__button\" download>Download<\/a><\/div>\n","protected":false},"excerpt":{"rendered":"<p>Stable-by-Design Kinematic Control Based on Optimization\ufeff This paper 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 &hellip; <a href=\"https:\/\/www.lirmm.fr\/~fraisse\/archives\/858\">Continue reading <span class=\"meta-nav\">&rarr;<\/span><\/a><\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"aside","meta":[],"categories":[10],"tags":[],"_links":{"self":[{"href":"https:\/\/www.lirmm.fr\/~fraisse\/wp-json\/wp\/v2\/posts\/858"}],"collection":[{"href":"https:\/\/www.lirmm.fr\/~fraisse\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/www.lirmm.fr\/~fraisse\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/www.lirmm.fr\/~fraisse\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/www.lirmm.fr\/~fraisse\/wp-json\/wp\/v2\/comments?post=858"}],"version-history":[{"count":16,"href":"https:\/\/www.lirmm.fr\/~fraisse\/wp-json\/wp\/v2\/posts\/858\/revisions"}],"predecessor-version":[{"id":877,"href":"https:\/\/www.lirmm.fr\/~fraisse\/wp-json\/wp\/v2\/posts\/858\/revisions\/877"}],"wp:attachment":[{"href":"https:\/\/www.lirmm.fr\/~fraisse\/wp-json\/wp\/v2\/media?parent=858"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.lirmm.fr\/~fraisse\/wp-json\/wp\/v2\/categories?post=858"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.lirmm.fr\/~fraisse\/wp-json\/wp\/v2\/tags?post=858"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}