A hierarchical solver, S-SHQP, computes inverse kinematic plans and control commands while autonomously selecting goals, with cost linear in the number of candidate goals.
A study on sparse hierarchical inverse kinematics algorithms for humanoid robots
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Integrated Hierarchical Decision-Making in Inverse Kinematic Planning and Control
A hierarchical solver, S-SHQP, computes inverse kinematic plans and control commands while autonomously selecting goals, with cost linear in the number of candidate goals.