Task-priority formulations for the kinematic control of highly redundant articulated structures

We compare two formulations for the kinematic control of redundant manipulators, based on task prioritization. We also propose an incremental method to speed up the evaluation of the solution. This is especially interesting when dealing with multiple task-priority levels and with highly redundant structures. Finally, the effectiveness of the approach in the context of posture control of human-like articulated figures is illustrated.