From Composable Models to Correct-by-Construction Software for Contact-Rich Robotic Mobile-Manipulation Tasks

Software frameworks like the Stack of Tasks (SoT), the Stanford Whole-Body Control (WBC) library, or the instantaneous Task Specification using Constraints (iTaSC) have enabled robots to perform advanced, contact-oriented manipulation tasks. jgeom_constr and eTaSL are among the few formal, computer-...

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Bibliographic Details
Published in:	IEEE robotics and automation letters Vol. 10; no. 10; pp. 9894 - 9901
Main Authors:	Schneider, Sven, Kalagaturu, Vamsi, Bruyninckx, Herman, Hochgeschwender, Nico
Format:	Journal Article
Language:	English
Published:	Piscataway IEEE 01.10.2025 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:	behavior-based systems Codes Composition Computational modeling Constraints DSL Kinematics Languages middleware and programming environments mobile manipulation Monitoring multi-contact whole-body motion planning and control Robot kinematics Robots Safety Semantics Software Software tools for robot programming Tooling Trajectory
ISSN:	2377-3766, 2377-3766
Online Access:	Get full text
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