An implementation of the framework described in Kinematic Control of Redundant Manipulators: Generalizing the Task-Priority Framework to Inequality Task and implemented in Soft Bilinear Inverted Pendulum: A Model to Enable Locomotion With Soft Contacts.
Just run the following command without downloading the repo to install it:
pip3 install git+https://github.com/ddebenedittis/hierarchical_qp.git
from hierarchical_qp import HierarchicalQP
hqp = HierarchicalQP()
A = [...] # list of n_tasts matrices A _of_ size (ne_i, nx)
b = [...] # list of n_tasts vectors b of size (ne_i)
C = [...] # list of n_tasts matrices C of size (ni_i, nx)
d = [...] # list of n_tasts vectors d of size (ne_i)
x_star = hqp(A, b, C, d)If b[i] or d[i] are matrices, they are converted to vectors.
If you find this project useful in your research, please consider citing my related work (available here):
@ARTICLE{debenedittis2025soft,
author={De Benedittis, Davide and Angelini, Franco and Garabini, Manolo},
journal={IEEE Transactions on Systems, Man, and Cybernetics: Systems},
title={Soft Bilinear Inverted Pendulum: A Model to Enable Locomotion With Soft Contacts},
year={2025},
volume={55},
number={2},
pages={1478-1491},
keywords={Legged locomotion;Quadrupedal robots;Foot;Vectors;Optimization;Computational modeling;Trajectory;Tracking;Planning;Jacobian matrices;Contacts;legged locomotion;optimal control;predictive control;quadratic programming},
doi={10.1109/TSMC.2024.3504342}}