Whole-body collision avoidance control design using quadratic programming with strict and soft task priorities

Using the gradient of the collision avoidance task as hard constraints of a quadratic programming (QP) controller, we assign strict priority to avoid collisions and specify other QP controller objectives with soft task priorities. Through experiments performed on a dual-arm robot, we show that the proposed solution is able to generate safe robot motion that fulfills the task specifications while keeping the feasibility of the underlying quadratic optimization problem.

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Recommended citation:

@article{wang2019rcim,
  title={Whole-body collision avoidance control design using quadratic programming with strict and soft task priorities},
  author={Wang, Yuquan and Wang, Lihui},
  journal={Robotics and Computer-Integrated Manufacturing},
  volume={62},
  pages={101882},
  year={2019},
  publisher={Elsevier}
}