---
publication_id: "OT-2026-000001717"
title: "Action abstraction controller for fully actuated robotic manipulators"
published_at: "2026-09-15T19:07:53.929108Z"
canonical_url: "https://opentechnical.org/p/OT-2026-000001717"
categories:
  - "robotics-automation/robot-architectures"
keywords:
  - "b25j9/1612"
  - "b25j9/1612"
  - "b25j9/1612"
  - "b25j15/00"
  - "b25j15/0009"
  - "b25j15/0009"
---

# Action abstraction controller for fully actuated robotic manipulators

## Abstract

Methods, systems, and apparatus, including computer programs encoded on computer storage media, for controlling a robot manipulator that has a plurality of joints. One of the methods includes obtaining a control input that comprises one or more velocity values that specify a target velocity of a reference point in a given coordinate frame; determining a respective joint velocity for each of the plurality of joints by generating a solution to an optimization problem formulated from the control input; and controlling the robot manipulator, including causing the plurality of joints of the robot manipulator to move in accordance with the respective joint velocities to approximate the control input.