A Whole-Body Controller for Rendering Impedances in Quadruped Manipulators [IROS 2022]
This video is supplementary material to our work, accepted for IROS 2022.
We present a whole-body controller for our quadruped manipulator that allows for the implementation of a Cartesian impedance control to coordinate tracking performance and desired compliance for the robot base and manipulator arm. The presented strategy decouples the arm and the base of the platform, enforcing the behavior of a linear double-mass spring damper system, and allows to independently tune their inertia, stiffness and damping properties.
The control architecture is validated through simulations using the HyQ robot equipped with a 7-DoF manipulator arm.
The preprint can be found in: https://arxiv.org/abs/2208.00810
Watch video A Whole-Body Controller for Rendering Impedances in Quadruped Manipulators [IROS 2022] online without registration, duration hours minute second in high quality. This video was added by user Dynamic Legged Systems lab 02 August 2022, don't forget to share it with your friends and acquaintances, it has been viewed on our site 1,13 once and liked it 7 people.