No description, website, or topics provided.
Clone or download
Fetching latest commit…
Cannot retrieve the latest commit at this time.
Permalink
Type Name Latest commit message Commit time
Failed to load latest commit information.
hiqp
hiqp_core
hiqp_msgs
hiqp_ros
.gitignore
LICENCE.md
README.md

README.md

The HiQP Control Framework

Copyright (C) 2016-2017 Marcus A. Johansson

HiQP is a whole-body control framework for computing inverse kinematics (and dynamics in future releases) involving multiple objectives which can be incompatible. It uses the inequality task function approach in [1] and is based on hierarchical least-squares optimization. Lower-ranked tasks are fulfilled as good as possible (in the least-square sense) in the null-space of higher-ranked tasks. More details are given in [2] - available at http://www.diva-portal.org/smash/get/diva2:1056500/FULLTEXT01.pdf.

Acknowledgements

Robert Krug and Todor Stoyanov at the AASS Research Institute at Örebro University, Sweden, have been important contributors to this project. Thank you.

Upcoming features/changes

  • A Wiki/user guide will be created as a tutorial on how to use HiQP with ROS. In the meantime, we refer to the hiqp_demos package for examples of how to use HiQP: git@github.com:OrebroUniversity/hiqp_demos.git
  • The list of available service calls will be revised and extended.
  • A capsule primitive will be added to the set of geometric primitives.
  • The framework will be extended to compute controls on a joint acceleration level in order to enable inverse dynamics control.

Installation note

HiQP relies on Gurobi to solve Quadratic Programs (QPs). For academic use, a free license can be obtained at http://www.gurobi.com/. Make sure to set the corresponding environment variables as described in http://www.gurobi.com/documentation/6.5/quickstart_linux/software_installation_guid.html.

How to cite HiQP

A publication presenting HiQP is in preparation. In the meantime, please refer to [2].


[1] ... O. Kanoun, F. Lamiraux and P.-B. Wieber, Kinematic control of redundant manipulators: Generalizing the task-priority framework to inequality task. IEEE T-RO, 27(4):785-792, 2011.
[2] ... M. A. Johansson, Online whole-body control using hierarchical quadratic programming: implementation and evaluation of the HiQP control framework. MSc Thesis, 2016.