ConceptQuadratic Programming / QP
Quadratic Programming
An optimization method for finding the solution that minimizes an objective function subject to a set of constraints. In CSF it is used to solve, at each step, for a control quantity that both tracks the target motion and does not cross the safety boundary.
Timeline (last 90 days)
Oct 12
Whole-body control (WBC) treats the robot as a unified dynamic system, simultaneously computing torque commands for all joints across the entire body by solving a constrained optimization problem (typically a quadratic program, QP).
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