The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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Computational Cost Reduction Method for HQP-based Hierarchical Controller for Articulated Robot

다관절 로봇의 계층적 제어를 위한 HQP의 연산 비용 감소 방법

  • Park, Mingyu (Kwangwoon University) ;
  • Kim, Dongwhan (Kwangwoon University) ;
  • Oh, Yonghwan (Center for Intelligent and Interactive Robotics, Korea Institute of Science and Technology (KIST)) ;
  • Lee, Yisoo (Center for Intelligent and Interactive Robotics, Korea Institute of Science and Technology (KIST))
  • Received : 2021.10.18
  • Accepted : 2021.12.28
  • Published : 2022.02.28
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Abstract

This paper presents a method that can reduce the computational cost of the hierarchical quadratic programming (HQP)-based robot controller. Hierarchical controllers can effectively manage articulated robots with many degrees of freedom (DoFs) to perform multiple tasks. The HQP-based controller is one of the generic hierarchical controllers that can provide a control solution guaranteeing strict task priority while handling numerous equality and inequality constraints. However, according to a large amount of computation, it can be a burden to use it for real-time control. Therefore, for practical use of the HQP, we propose a method to reduce the computational cost by decreasing the size of the decision variable. The computation time and control performance of the proposed method are evaluated by real robot experiments with a 15 DoFs dual-arm manipulator.

Keywords

Acknowledgement

This project was supported by the Korea Institute of Science, and Technology Institutional Programs under Grant 2E31593

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