Modularize-and-conquer: a generalized impact dynamics and safe precollision control framework for floating-base tree-like robots
Flexible and versatile mobile robotic coworkers are becoming an indispensable commodity
for helping humans with repetitive or physically demanding work. A key challenge with these …
for helping humans with repetitive or physically demanding work. A key challenge with these …
Singularity-Robust Prioritized Whole-Body Tracking and Interaction Control With Smooth Task Transitions
In this work, we propose a singularity-robust whole-body control framework that ensures
smooth task transitions while maintaining strict priorities. The weighted generalized inverse …
smooth task transitions while maintaining strict priorities. The weighted generalized inverse …
A Novel Variable Stiffness Suspension System for Improved Stability and Control of Tactile Mobile Manipulators
Mobile manipulators (MM) have proven valuable in assisting humans in industrial settings.
However, their strict separation from humans in controlled environments limits their …
However, their strict separation from humans in controlled environments limits their …