Multi-Task prioritized controllers generate complex behaviors for humanoids that concurrently satisfy several tasks and constraints. In our previous work we automatically learned the task priorities that maximized the robot performance in whole-body reaching tasks, ensuring that the optimized...
04b Atto di convegno in volume
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We consider the problem of generating a gait with no a priori assigned footsteps while taking into account the contribution of the swinging leg to the total Zero Moment Point (ZMP). This is achieved by considering a multi-mass model of the humanoid and distinguishing between secondary masses with...
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Multi-task prioritized controllers are able to generate complex robot behaviors that concurrently satisfy several tasks and constraints. To perform, they often require a human expert to define the evolution of the task priorities in time. In a previous paper [1] we proposed a framework to...
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One of the key problems in planning and control of redundant robots is the fast generation of controls when multiple tasks and constraints need to be satisfied. In the literature, this problem is classically solved by multi-task prioritized approaches, where the priority of each task is determined...
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In this paper we study the relation between the performance of use and user preferences for a robotic arm control interface. We are interested in the user preference of non-experts after a one-shot evaluation of the interfaces on a test task. We also probe into the possible relation between user...
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