Concepedia

Task-priority Control

Task-Priority Control is a hierarchical whole-body control framework that resolves kinematic and dynamic redundancies by prioritizing multiple tasks in a sequenced order, where higher-priority tasks are satisfied exactly without interference from lower-priority tasks through the use of null-space projections.

102

Publications

7.1K

Citations

235

Authors

122

Institutions

Publications per year

2017–2026

29

Variants

Task-priority Control Framework

Parents

Publications

102

Task-Priority Based Redundancy Control of Robot Manipulators

Yoshihiko Nakamura, Hideo Hanafusa, Tsuneo Yoshikawa · The International Journal of Robotics Research · 1987 · 1K citations

, , +17

Singularity-robust task-priority redundancy resolution for real-time kinematic control of robot manipulators

S. Chiaverini · IEEE Transactions on Robotics and Automation · 1997 · 669 citations

, , +17

A general framework for managing multiple tasks in highly redundant robotic systems

Bruno Siciliano, J.-J.E. Slotine · 1991 · 592 citations

, , +17

Kinematic Control of Redundant Manipulators: Generalizing the Task-Priority Framework to Inequality Task

Oussama Kanoun, Florent Lamiraux, Pierre-Brice Wieber · IEEE Transactions on Robotics · 2011 · 396 citations

, , +17

WHOLE-BODY DYNAMIC BEHAVIOR AND CONTROL OF HUMAN-LIKE ROBOTS

Oussama Khatib, Luis Sentis, Jun-Won Park et al. · International Journal of Humanoid Robotics · 2004 · 289 citations

, , +17

1–5 of 102

Authors

235

  1. GA
    Gianluca Antonelli

    Università degli studi di Cassino e del Lazio Meridionale, Italy

    11 publications · 662 citations

    11

    h-index

  2. KY
    Kristin Y. Pettersen

    Norwegian University of Science and Technology, Norway

    6 publications · 193 citations

    6

    h-index

  3. OK
    Oussama Khatib

    Stanford University, United States

    6 publications · 945 citations

    6

    h-index

  4. ES
    Enrico Simetti

    University of Genoa, Italy

    5 publications · 194 citations

    5

    h-index

  5. BS
    Bruno Siciliano

    University of Naples Federico II, Italy

    5 publications · 725 citations

    5

    h-index

1–5 of 235

Institutions

122

  1. Università degli studi di Cassino e del Lazio Meridionale

    Cassino, Italy

    10 h-index

    15 publications

    684 citations

  2. Centre National de la Recherche Scientifique

    Paris, France

    10 h-index

    21 publications

    1.1K citations

  3. University of Naples Federico II

    Naples, Italy

    7 h-index

    15 publications

    1.7K citations

  4. Stanford University

    Stanford, United States

    6 h-index

    10 publications

    1.9K citations

  5. Norwegian University of Science and Technology

    Trondheim, Norway

    6 h-index

    15 publications

    520 citations

  6. University of Genoa

    Genoa, Italy

    5 h-index

    15 publications

    536 citations

  7. Italian Institute of Technology

    Genoa, Italy

    4 h-index

    9 publications

    235 citations

  8. Laboratoire d'Analyse et d'Architecture des Systèmes

    Toulouse, France

    4 h-index

    7 publications

    1.2K citations

1–8 of 122

Venues

  1. IEEE Transactions on Robotics

    4 publications · 1.1K citations

    4

    h-index

  2. IEEE Robotics and Automation Letters

    4 publications · 146 citations

    4

    h-index

  3. IEEE Access

    3 publications · 125 citations

    3

    h-index

  4. International Journal of Advanced Robotic Systems

    ARS · 2 publications · 43 citations

    2

    h-index

  5. Robotica

    2 publications · 70 citations

    2

    h-index

1–5