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Hierarchical Quadratic Programming: Companion report

Adrien Escande 1 Nicolas Mansard 2 Pierre-Brice Wieber 3
2 LAAS-GEPETTO - Équipe Mouvement des Systèmes Anthropomorphes
LAAS - Laboratoire d'analyse et d'architecture des systèmes
3 BIPOP - Modelling, Simulation, Control and Optimization of Non-Smooth Dynamical Systems
INPG - Institut National Polytechnique de Grenoble , LJK - Laboratoire Jean Kuntzmann, Inria Grenoble - Rhône-Alpes
Abstract : 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.
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Adrien Escande, Nicolas Mansard, Pierre-Brice Wieber. Hierarchical Quadratic Programming: Companion report. 2013. ⟨hal-00970816⟩

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