Hierarchical Quadratic Programming: Companion report

Adrien Escande (1) , Nicolas Mansard (2) , Pierre-Brice Wieber (3)

1 CNRS-AIST JRL - Joint Robotics Laboratory
2 LAAS-GEPETTO - Équipe Mouvement des Systèmes Anthropomorphes
3 BIPOP - Modelling, Simulation, Control and Optimization of Non-Smooth Dynamical Systems

This technical report summarizes the technical content in addition to the main paper Escande, Mansard, Wieber (IJRR 2013). In the first section, we detail the complexity cost of the active-set algorithm. In Section 2, we recall the continuity property and gives the detailed proof. In Section 3, we recall the stability property of the inverse-kinematics control scheme using the hierarchical quadratic program solver. This report is not self-contained. It is to be red in addition to the main paper.

Domaines: Robotique [cs.RO]

Adrien Escande, Nicolas Mansard, Pierre-Brice Wieber. Hierarchical Quadratic Programming: Companion report. [Research Report] LJK. 2013, 10 p. ⟨hal-00970816⟩