Motion Statecharts and the open-source Giskard framework close the gap between semantic motion tasks and kinematic execution via parallel/sequential constraints, a unified differentiable world model, and jerk-bounded lMPC on eight robot platforms.
etasl/etc: A constraint-based task spec- ification language and robot controller using expression graphs
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Closing the Motion Execution Gap: From Semantic Motion Task Constraints to Kinematic Control
Motion Statecharts and the open-source Giskard framework close the gap between semantic motion tasks and kinematic execution via parallel/sequential constraints, a unified differentiable world model, and jerk-bounded lMPC on eight robot platforms.