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.
Hierarchical quadratic program- ming: Fast online humanoid-robot motion generation.The International Journal of Robotics Research, 33(7):1006– 1028
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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.