Relationship between the pseudoinverse formulation and the compact formulation for obtaining the general solutions of redundant robotic systems

Chen, T.H.; Cheng, Fan‐Tien; Sun, Yung-Nien

doi:10.1109/iecon.1991.239276

Cited by 4 publications

(2 citation statements)

References 13 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…In this paper, the so-called Compact formulation as derived in reference 2 is adopted since the technique of Gaussian elimination with partial pivoting can ensure adequately numerical stability with better computational efficiency. 20,21 Furthermore, through the process of Gaussian elimination with partial pivoting, the decisions on which variables to be eliminated (i.e. basic variables) and which to be retained (i.e.…”

Section: The Compact Qp Methodsmentioning

confidence: 99%

See 1 more Smart Citation

Optimal force distribution in multilegged vehicles

et al. 1999

View full text Add to dashboard Cite

The force distribution problem in multilegged vehicle is a constrained, optimization problem. The solution to the problem is the setpoints of the leg contact forces for a particular system task. In this paper, the efficient Compact QP method which takes into account both the linear and quadratic objective functions is adopted to resolve this constrained, optimization problem. Various objective functions such as minimum force, load balance, safety margin on friction constraints can be considered by the Compact QP method. This method can also be applied to smooth discontinuities in commanded forces by manipulating the homogeneous solution and including smoothing periods when the leg phase alternates between support and transfer. This smoothing scheme does not require force sensors. Multiple goals which consider several alternative objective functions can also be achieved by the Compact QP method.

show abstract

Section: The Compact Qp Methodsmentioning

confidence: 99%

“…The force distribution problem formulated in the Original QP form was expressed in Eqs. (19)- (21). Substituting Eq.…”

Section: The Compact Qp Methodsmentioning

confidence: 99%