Regularized Hierarchical Quadratic Program for Real-Time Whole-Body Motion Generation - Hong, Seongil; Jang, Keunwoo; Kim, Sanghyun; Park, Jaeheung (IEEE/ASME transactions on mechatronics, 2021)
Keywords: Algorithms; Constraints; IEEE transactions; Mechatronics; Optimization; Quadratic program (QP); Quadratic programming; Real time; Real-time systems; Regularization; rescue robot; Robots; Robustness; Robustness (mathematics); Singular value decomposition; singularity robustness; Task analysis; task priority