TY - GEN
T1 - A kinematic whole-body control system for highly redundant robots
AU - Ramos, Oscar E.
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2017/1/27
Y1 - 2017/1/27
N2 - Whole-body control is crucial to fully exploit all the possible motions that redundant robots with a free-floating base can achieve. This paper presents a new open source and platform independent system that integrates whole-body operational-space control schemes based upon inverse kinematics for highly redundant robots. Contrary to other works, which heavily rely on complex underlying platforms and are difficult to integrate in different frameworks, the proposed system does not rely on specific middlewares. It is completely platform independent, and its integration in different frameworks is easy and straightforward. The control system has been tested with a redundant humanoid robot.
AB - Whole-body control is crucial to fully exploit all the possible motions that redundant robots with a free-floating base can achieve. This paper presents a new open source and platform independent system that integrates whole-body operational-space control schemes based upon inverse kinematics for highly redundant robots. Contrary to other works, which heavily rely on complex underlying platforms and are difficult to integrate in different frameworks, the proposed system does not rely on specific middlewares. It is completely platform independent, and its integration in different frameworks is easy and straightforward. The control system has been tested with a redundant humanoid robot.
UR - https://www.scopus.com/pages/publications/85015180682
U2 - 10.1109/ANDESCON.2016.7836240
DO - 10.1109/ANDESCON.2016.7836240
M3 - Conference contribution
AN - SCOPUS:85015180682
T3 - Proceedings of the 2016 IEEE ANDESCON, ANDESCON 2016
BT - Proceedings of the 2016 IEEE ANDESCON, ANDESCON 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2016 IEEE ANDESCON, ANDESCON 2016
Y2 - 19 October 2016 through 21 October 2016
ER -