零空間射影と経路積分法による階層的タスク制御

原文アブストラクト

This paper addresses the problem of hierarchical task control, where a robotic system must perform multiple subtasks with varying levels of priority. A commonly used approach for hierarchical control is the null-space projection technique, which ensures that higher-priority tasks are executed without interference from lower-priority ones. While effective, the state-of-the-art implementations of this method rely on low-level controllers, such as PID controllers, which can be prone to suboptimal solutions in complex tasks. This paper presents a novel framework for hierarchical task control, integrating the null-space projection technique with the path integral control method. Our approach leverages Monte Carlo simulations for real-time computation of optimal control inputs, allowing for the seamless integration of simpler PID-like controllers with a more sophisticated optimal control technique. Through simulation studies, we demonstrate the effectiveness of this combined approach, showing how it overcomes the limitations of traditional