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With the increasing complexity of humanoid mechanisms and their desired capabilities, there is a pressing need for a generalized framework where a desired whole-body motion behavior can be easily specified and controlled. Our hypothesis is that human motion results from simultaneously performing multiple objectives in a hierarchical manner, and we have analogously developed a prioritized, multiple-task control framework. The operational space formulation 10 provides dynamic models at the task level and structures for decoupled task and posture control. 13 This formulation allows for posture objectives to be controlled without dynamically interfering with the operational task. Achieving higher performance of posture objectives requires precise models of their dynamic behaviors. In this paper we complete the picture of task descriptions and whole-body dynamic control by establishing models of the dynamic behavior of secondary task objectives within the posture space. Using these models, we present a whole-body control framework that decouples the interaction between the task and postural objectives and compensates for the dynamics in their respective spaces.
Khatib et al. (Mon,) studied this question.