Motion Statecharts with a differentiable kinematic world model and lMPC close the gap between semantic motion constraints and executable kinematic control, demonstrated on eight robot platforms via the open-source Giskard framework.
A stack-of-tasks approach combined with behavior trees: A new framework for robot con- trol.IEEE Robotics and Automation Letters, 7(4):12110– 12117
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Closing the Motion Execution Gap: From Semantic Motion Task Constraints to Kinematic Control
Motion Statecharts with a differentiable kinematic world model and lMPC close the gap between semantic motion constraints and executable kinematic control, demonstrated on eight robot platforms via the open-source Giskard framework.