Humans can respond immediately to unexpected situations as shown in the photo on the left. However, in the case of the robot, it cannot respond immediately. This is because the robot is not capable of dynamic task transition.
Continuous task transition for HQP based controller to dynamically insert, remove, and swap arbitrary tasks without discontinuity
Whole-body controller f or non-holonomic mobile manipulator with continuous task transition algorithm
Weighted HQP controller with continuous task transition algorithm
Can generate natural motion with motion distribution without planner
AI-based door traversal algorithm with the proposed weighted HQP controller
Natural motion generation with reachability constraint