Motion Statecharts and the open-source Giskard framework close the gap between semantic motion tasks and kinematic execution via parallel/sequential constraints, a unified differentiable world model, and jerk-bounded lMPC on eight robot platforms.
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 and the open-source Giskard framework close the gap between semantic motion tasks and kinematic execution via parallel/sequential constraints, a unified differentiable world model, and jerk-bounded lMPC on eight robot platforms.