We present CasADi, an open-source software framework for numerical optimization. CasADi
is a general-purpose tool that can be used to model and solve optimization problems with a …

The paper presents a fast online predictive method to solve the task-priority differential
inverse kinematics of redundant manipulators under kinematic constraints. It implements a …

This article presents a model predictive control (MPC) method for redundant robots
controlling multiple hierarchical tasks formulated as multilayer constrained optimal control …

This chapter presents an overview of learning approaches for the acquisition of controllers
and movement skills in humanoid robots. The term learning control refers to the process of …

The increasing interest in autonomous robots with a high number of degrees of freedom for
industrial applications and service robotics demands control algorithms to handle multiple …

Bimanual operations in humanoids offer the possibility to carry out more than one
manipulation task at the same time, which in turn introduces the problem of task …

Generating feasible robot motions in real-time requires achieving multiple tasks (ie,
kinematic requirements) simultaneously. These tasks can have a specific goal, a range of …

Robots with high degrees of freedom (DoFs), such as humanoids and mobile manipulators,
are expected to perform multiple tasks simultaneously. Hierarchical quadratic programming …

Redundant degrees of freedom provide a feasible solution for robots to better interact with
environments, but it also leads to an increase in the complexity of kinematic and dynamic …

In this work we introduced a prioritized Cartesian impedance control under the framework of
the Quadratic Programming (QP) optimization. In particular, we present a formulation which …