OPENTECHNICAL PUBLICATION
OT-2026-000001717

Action abstraction controller for fully actuated robotic manipulators

Published: 2026-09-15T19:07:53.929108Z
Permanent URL: https://opentechnical.org/p/OT-2026-000001717
Categories: Robotics & Automation > Robot Architectures

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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.

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OpenTechnical publication OT-2026-000001717
Published 2026-09-15T19:07:53.929108Z
https://opentechnical.org/p/OT-2026-000001717