Action abstraction controller for fully actuated robotic manipulators

One or more non-transitory computer-readable storage media storing instructions that when executed by one or more computers cause the one or more computers to perform operations comprising:

• 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.

A system comprising one or more computers and one or more storage devices storing instructions that when executed by one or more computers cause the one or more computers to perform operations comprising:

• 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.