Institut für
Robotik und Prozessinformatik

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seminar topic

Operational Space Formulation

course: Bachelor/Master
This control scheme, introduced by O. Khatib already in 1987, enables to control the endeffector in task-space while simultanously tracking a secondary (e.g. joint-space) task, which has null effect on the primary task. When controlling highly redundant robots such as humanoids, this control framework can be extended to a multi-level hierarchy, as proposed by L. Sentis.

Literature: Khatib, Oussama(External) Sentis, Luis and Khatib, Oussama(External)(PDF)




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